[0m[ INFO] [1628014816.975736433]: Found parameter: vio/cam_model, value: ATAN[0m
[0m[ INFO] [1628014816.977501372]: Found parameter: vio/cam_width, value: 640[0m
[0m[ INFO] [1628014816.977980249]: Found parameter: vio/cam_height, value: 480[0m
[0m[ INFO] [1628014816.978581552]: Found parameter: vio/cam_fx, value: 0.463632[0m
[0m[ INFO] [1628014816.979139319]: Found parameter: vio/cam_fy, value: 0.823661[0m
[0m[ INFO] [1628014816.979709087]: Found parameter: vio/cam_cx, value: 0.497465[0m
[0m[ INFO] [1628014816.980362941]: Found parameter: vio/cam_cy, value: 0.498443[0m
[0m[ INFO] [1628014816.980995321]: Found parameter: vio/cam_d0, value: 1.01687[0m
[0m[ INFO] [1628014816.981064300]: SVO initialized[0m
[0m[ INFO] [1628014816.986340592]: Found parameter: svo/grid_size, value: 30[0m
[0m[ INFO] [1628014816.986979970]: Found parameter: svo/init_min_disparity, value: 30[0m
[0m[ INFO] [1628014816.987496809]: Found parameter: svo/init_min_tracked, value: 100[0m
[0m[ INFO] [1628014816.990182994]: Found parameter: svo/poseoptim_thresh, value: 4[0m
[0m[ INFO] [1628014816.991418872]: Found parameter: svo/structureoptim_max_pts, value: 50[0m
[0m[ INFO] [1628014816.993962127]: Found parameter: svo/loba_num_iter, value: 0[0m
[0m[ INFO] [1628014816.994525769]: Found parameter: svo/kfselect_mindist, value: 0.01[0m
[0m[ INFO] [1628014816.996978914]: Found parameter: svo/max_n_kfs, value: 20[0m
[0m[ INFO] [1628014816.998634393]: Found parameter: svo/quality_min_fts, value: 10[0m
[0m[ INFO] [1628014816.999160384]: Found parameter: svo/quality_max_drop_fts, value: 60[0m
[0m[ INFO] [1628014817.002402194]: Found parameter: svo/ACC_noise, value: 0.5[0m
[0m[ INFO] [1628014817.002932313]: Found parameter: svo/GYO_noise, value: 0.001[0m
[0m[ INFO] [1628014817.003481902]: Found parameter: svo/svo_ekf, value: 1.5[0m
[0m[ INFO] [1628014817.005859507]: Found parameter: svo/Cmd_Cov, value: 1[0m
Find platform number:Intel(R) CPU Runtime for OpenCL(TM) Applications 
Find platform number:Intel(R) OpenCL HD Graphics 
CL_DEVICE_NAME: Intel(R) UHD Graphics 620 [0x5917] 
CL_DEVICE_OPENCL_C_VERSION: OpenCL C 3.0  
CL_DEVICE_BUILT_IN_KERNELS: block_motion_estimate_intel;block_advanced_motion_estimate_check_intel;block_advanced_motion_estimate_bidirectional_check_intel; 
CL_DEVICE_COMPILER_AVAILABLE: 1
CL_DEVICE_LOCAL_MEM_SIZE: 65536
CL_DEVICE_GLOBAL_MEM_SIZE: 9867214848
 Error building: -2
1:188:36: error: implicit declaration of function 'malloc' is invalid in OpenCL
    double* frame_jac = (double *) malloc(6 * sizeof(double)); // 2X3
                                   ^
1:188:25: warning: cast to '__private double *' from smaller integer type 'int'
    double* frame_jac = (double *) malloc(6 * sizeof(double)); // 2X3
                        ^
1:200:43: error: member reference base type '__global double *__private' is not a structure or union
    double3 xyz_current = xyz_cur(cur_pose.x, cur_pose.z, cur_pose.pitch, ref_pose[0] ,ref_pose[1] ,ref_pose[2], ref_feature[f]);
                                  ~~~~~~~~^~
1:200:55: error: member reference base type '__global double *__private' is not a structure or union
    double3 xyz_current = xyz_cur(cur_pose.x, cur_pose.z, cur_pose.pitch, ref_pose[0] ,ref_pose[1] ,ref_pose[2], ref_feature[f]);
                                              ~~~~~~~~^~
1:200:67: error: member reference base type '__global double *__private' is not a structure or union
    double3 xyz_current = xyz_cur(cur_pose.x, cur_pose.z, cur_pose.pitch, ref_pose[0] ,ref_pose[1] ,ref_pose[2], ref_feature[f]);
                                                          ~~~~~~~~^~~~~~
1:229:83: warning: expression result unused
            int2 px_reftl = ( ref_element_addr                                    % get_image_dim(image_ref)[0], ref_element_addr                                     / get_image_dim(image_ref)[0]);
                              ~~~~~~~~~~~~~~~~                                    ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:230:83: warning: expression result unused
            int2 px_reftr = ((ref_element_addr + 1)                               % get_image_dim(image_ref)[0], (ref_element_addr + 1)                               / get_image_dim(image_ref)[0]);
                             ~~~~~~~~~~~~~~~~~~~~~~                               ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:231:83: warning: expression result unused
            int2 px_refbl = ((ref_element_addr + get_image_dim(image_ref)[0])     % get_image_dim(image_ref)[0], (ref_element_addr + get_image_dim(image_ref)[0])     / get_image_dim(image_ref)[0]);
                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~     ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:232:83: warning: expression result unused
            int2 px_refbr = ((ref_element_addr + get_image_dim(image_ref)[0] + 1) % get_image_dim(image_ref)[0], (ref_element_addr + get_image_dim(image_ref)[0] + 1) / get_image_dim(image_ref)[0]);
                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:236:138: warning: expression result unused
            double dx = 0.5f * ((w_ref_tl * read_imageui(image_ref, sampler, ((ref_element_addr + 1)                                     % get_image_dim(image_ref)[0], ((ref_element_addr + 1)                                     / get_image_dim(image_ref)[0]))).x +
                                                                              ~~~~~~~~~~~~~~~~~~~~~~                                     ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:236:45: error: call to 'read_imageui' is ambiguous
            double dx = 0.5f * ((w_ref_tl * read_imageui(image_ref, sampler, ((ref_element_addr + 1)                                     % get_image_dim(image_ref)[0], ((ref_element_addr + 1)                                     / get_image_dim(image_ref)[0]))).x +
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:237:138: warning: expression result unused
                                 w_ref_tr * read_imageui(image_ref, sampler, ((ref_element_addr + 2)                                     % get_image_dim(image_ref)[0], ((ref_element_addr + 2)                                     / get_image_dim(image_ref)[0]))).x +
                                                                              ~~~~~~~~~~~~~~~~~~~~~~                                     ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:237:45: error: call to 'read_imageui' is ambiguous
                                 w_ref_tr * read_imageui(image_ref, sampler, ((ref_element_addr + 2)                                     % get_image_dim(image_ref)[0], ((ref_element_addr + 2)                                     / get_image_dim(image_ref)[0]))).x +
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:238:138: warning: expression result unused
                                 w_ref_bl * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1)     % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1)     / get_image_dim(image_ref)[0]))).x +
                                                                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~     ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:238:45: error: call to 'read_imageui' is ambiguous
                                 w_ref_bl * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1)     % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1)     / get_image_dim(image_ref)[0]))).x +
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:239:138: warning: expression result unused
                                 w_ref_br * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]) + 2)     % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) + 2)     / get_image_dim(image_ref)[0]))).x)
                                                                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~     ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:239:45: error: call to 'read_imageui' is ambiguous
                                 w_ref_br * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]) + 2)     % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) + 2)     / get_image_dim(image_ref)[0]))).x)
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:240:138: warning: expression result unused
                               -(w_ref_tl * read_imageui(image_ref, sampler, ((ref_element_addr - 1)                                     % get_image_dim(image_ref)[0], ((ref_element_addr - 1)                                     / get_image_dim(image_ref)[0]))).x +
                                                                              ~~~~~~~~~~~~~~~~~~~~~~                                     ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:240:45: error: call to 'read_imageui' is ambiguous
                               -(w_ref_tl * read_imageui(image_ref, sampler, ((ref_element_addr - 1)                                     % get_image_dim(image_ref)[0], ((ref_element_addr - 1)                                     / get_image_dim(image_ref)[0]))).x +
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:241:138: warning: expression result unused
                                 w_ref_tr * read_imageui(image_ref, sampler, ((ref_element_addr + 0)                                     % get_image_dim(image_ref)[0], ((ref_element_addr + 0)                                     / get_image_dim(image_ref)[0]))).x +
                                                                              ~~~~~~~~~~~~~~~~~~~~~~                                     ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:241:45: error: call to 'read_imageui' is ambiguous
                                 w_ref_tr * read_imageui(image_ref, sampler, ((ref_element_addr + 0)                                     % get_image_dim(image_ref)[0], ((ref_element_addr + 0)                                     / get_image_dim(image_ref)[0]))).x +
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:242:138: warning: expression result unused
                                 w_ref_bl * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]) - 1)     % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) - 1)     / get_image_dim(image_ref)[0]))).x +
                                                                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~     ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:242:45: error: call to 'read_imageui' is ambiguous
                                 w_ref_bl * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]) - 1)     % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) - 1)     / get_image_dim(image_ref)[0]))).x +
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:243:138: warning: expression result unused
                                 w_ref_br * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]))         % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]))         / get_image_dim(image_ref)[0]))).x));
                                                                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~         ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:243:45: error: call to 'read_imageui' is ambiguous
                                 w_ref_br * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]))         % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]))         / get_image_dim(image_ref)[0]))).x));
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:245:138: warning: expression result unused
            double dy = 0.5f * ((w_ref_tl * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]))         % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]))         / get_image_dim(image_ref)[0]))).x +
                                                                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~         ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:245:45: error: call to 'read_imageui' is ambiguous
            double dy = 0.5f * ((w_ref_tl * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]))         % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]))         / get_image_dim(image_ref)[0]))).x +
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:246:138: warning: expression result unused
                                 w_ref_tr * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1)     % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1)     / get_image_dim(image_ref)[0]))).x +
                                                                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~     ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:246:45: error: call to 'read_imageui' is ambiguous
                                 w_ref_tr * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1)     % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) + 1)     / get_image_dim(image_ref)[0]))).x +
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:247:138: warning: expression result unused
                                 w_ref_bl * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2)     % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2)     / get_image_dim(image_ref)[0]))).x +
                                                                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~     ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:247:45: error: call to 'read_imageui' is ambiguous
                                 w_ref_bl * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2)     % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2)     / get_image_dim(image_ref)[0]))).x +
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:248:138: warning: expression result unused
                                 w_ref_br * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2 + 1) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2 + 1) / get_image_dim(image_ref)[0]))).x)
                                                                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:248:45: error: call to 'read_imageui' is ambiguous
                                 w_ref_br * read_imageui(image_ref, sampler, ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2 + 1) % get_image_dim(image_ref)[0], ((ref_element_addr + (get_image_dim(image_ref)[0]) * 2 + 1) / get_image_dim(image_ref)[0]))).x)
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:249:138: warning: expression result unused
                               -(w_ref_tl * read_imageui(image_ref, sampler, ((ref_element_addr + (-get_image_dim(image_ref)[0]))        % get_image_dim(image_ref)[0], ((ref_element_addr + (-get_image_dim(image_ref)[0]))        / get_image_dim(image_ref)[0]))).x +
                                                                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~        ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:249:45: error: call to 'read_imageui' is ambiguous
                               -(w_ref_tl * read_imageui(image_ref, sampler, ((ref_element_addr + (-get_image_dim(image_ref)[0]))        % get_image_dim(image_ref)[0], ((ref_element_addr + (-get_image_dim(image_ref)[0]))        / get_image_dim(image_ref)[0]))).x +
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:250:138: warning: expression result unused
                                 w_ref_tr * read_imageui(image_ref, sampler, ((ref_element_addr + (1 - get_image_dim(image_ref)[0]))     % get_image_dim(image_ref)[0], ((ref_element_addr + (1 - get_image_dim(image_ref)[0]))     / get_image_dim(image_ref)[0]))).x +
                                                                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~     ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:250:45: error: call to 'read_imageui' is ambiguous
                                 w_ref_tr * read_imageui(image_ref, sampler, ((ref_element_addr + (1 - get_image_dim(image_ref)[0]))     % get_image_dim(image_ref)[0], ((ref_element_addr + (1 - get_image_dim(image_ref)[0]))     / get_image_dim(image_ref)[0]))).x +
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:251:138: warning: expression result unused
                                 w_ref_bl * read_imageui(image_ref, sampler, ((ref_element_addr + 0)                                     % get_image_dim(image_ref)[0], ((ref_element_addr + 0)                                     / get_image_dim(image_ref)[0]))).x +
                                                                              ~~~~~~~~~~~~~~~~~~~~~~                                     ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:251:45: error: call to 'read_imageui' is ambiguous
                                 w_ref_bl * read_imageui(image_ref, sampler, ((ref_element_addr + 0)                                     % get_image_dim(image_ref)[0], ((ref_element_addr + 0)                                     / get_image_dim(image_ref)[0]))).x +
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:252:138: warning: expression result unused
                                 w_ref_br * read_imageui(image_ref, sampler, ((ref_element_addr + 1)                                     % get_image_dim(image_ref)[0], ((ref_element_addr + 1)                                     / get_image_dim(image_ref)[0]))).x));
                                                                              ~~~~~~~~~~~~~~~~~~~~~~                                     ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:252:45: error: call to 'read_imageui' is ambiguous
                                 w_ref_br * read_imageui(image_ref, sampler, ((ref_element_addr + 1)                                     % get_image_dim(image_ref)[0], ((ref_element_addr + 1)                                     / get_image_dim(image_ref)[0]))).x));
                                            ^~~~~~~~~~~~
opencl-c.h:16325:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, int2 coord);
                      ^
opencl-c.h:16326:23: note: candidate function
uint4 __purefn __ovld read_imageui(read_only image2d_t image, sampler_t sampler, float2 coord);
                      ^
1:255:116: error: use of undeclared identifier 'cur_element_add'; did you mean 'cur_element_addr'?
            int2 px_curtl = ( cur_element_addr                                      % get_image_dim(image_cur)[0], cur_element_add                                       / get_image_dim(image_cur)[0]);
                                                                                                                   ^~~~~~~~~~~~~~~
                                                                                                                   cur_element_addr
1:224:13: note: 'cur_element_addr' declared here
        int cur_element_addr = (v_cur_i + y - PATCH_HALFSIZE) * get_image_dim(image_cur)[0] + (u_cur_i - PATCH_HALFSIZE);
            ^
1:255:85: warning: expression result unused
            int2 px_curtl = ( cur_element_addr                                      % get_image_dim(image_cur)[0], cur_element_add                                       / get_image_dim(image_cur)[0]);
                              ~~~~~~~~~~~~~~~~                                      ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:256:117: error: use of undeclared identifier 'cur_element_add'; did you mean 'cur_element_addr'?
            int2 px_curtr = ((cur_element_addr + 1)                                 % get_image_dim(image_cur)[0], (cur_element_add + 1)                                 / get_image_dim(image_cur)[0]);
                                                                                                                    ^~~~~~~~~~~~~~~
                                                                                                                    cur_element_addr
1:224:13: note: 'cur_element_addr' declared here
        int cur_element_addr = (v_cur_i + y - PATCH_HALFSIZE) * get_image_dim(image_cur)[0] + (u_cur_i - PATCH_HALFSIZE);
            ^
1:256:85: warning: expression result unused
            int2 px_curtr = ((cur_element_addr + 1)                                 % get_image_dim(image_cur)[0], (cur_element_add + 1)                                 / get_image_dim(image_cur)[0]);
                             ~~~~~~~~~~~~~~~~~~~~~~                                 ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:257:117: error: use of undeclared identifier 'cur_element_add'; did you mean 'cur_element_addr'?
            int2 px_curbl = ((cur_element_addr + (get_image_dim(image_cur)[0]))     % get_image_dim(image_cur)[0], (cur_element_add + (get_image_dim(image_cur)[0]))     / get_image_dim(image_cur)[0]);
                                                                                                                    ^~~~~~~~~~~~~~~
                                                                                                                    cur_element_addr
1:224:13: note: 'cur_element_addr' declared here
        int cur_element_addr = (v_cur_i + y - PATCH_HALFSIZE) * get_image_dim(image_cur)[0] + (u_cur_i - PATCH_HALFSIZE);
            ^
1:257:85: warning: expression result unused
            int2 px_curbl = ((cur_element_addr + (get_image_dim(image_cur)[0]))     % get_image_dim(image_cur)[0], (cur_element_add + (get_image_dim(image_cur)[0]))     / get_image_dim(image_cur)[0]);
                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~     ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:258:117: error: use of undeclared identifier 'cur_element_add'; did you mean 'cur_element_addr'?
            int2 px_curbr = ((cur_element_addr + (get_image_dim(image_cur)[0]) + 1) % get_image_dim(image_cur)[0], (cur_element_add + (get_image_dim(image_cur)[0]) + 1) / get_image_dim(image_cur)[0]);
                                                                                                                    ^~~~~~~~~~~~~~~
                                                                                                                    cur_element_addr
1:224:13: note: 'cur_element_addr' declared here
        int cur_element_addr = (v_cur_i + y - PATCH_HALFSIZE) * get_image_dim(image_cur)[0] + (u_cur_i - PATCH_HALFSIZE);
            ^
1:258:85: warning: expression result unused
            int2 px_curbr = ((cur_element_addr + (get_image_dim(image_cur)[0]) + 1) % get_image_dim(image_cur)[0], (cur_element_add + (get_image_dim(image_cur)[0]) + 1) / get_image_dim(image_cur)[0]);
                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~
1:266:28: error: call to 'pow' is ambiguous
                errors[f * pow(PATCH_SIZE, 2) + (y * PATCH_SIZE) + x] = fabs(res);
                           ^~~
./CTHeader.h:5225:38: note: candidate function
double __attribute__((overloadable)) pow(double x, double y);
                                     ^
opencl-c.h:8111:21: note: candidate function
float __ovld __cnfn pow(float x, float y);
                    ^
opencl-c.h:8126:20: note: candidate function
half __ovld __cnfn pow(half x, half y);
                   ^
1:274:13: error: indirection requires pointer operand ('double' invalid)
            *chi += res * res * weight;
            ^~~~
1:280:34: error: unexpected type name 'double3': expected expression
                double3 j_row0 = double3(dx * frame_jac[0], dx * frame_jac[1], dx * frame_jac[2])
                                 ^
1:283:33: error: use of undeclared identifier 'J'
                compute_hessain(J, Hessian, weight); // H_.noalias() += J * J.transpose() * weight;
                                ^
1:284:34: error: use of undeclared identifier 'J'
                compute_Jacobian(J, Jacobian, res, weight) // Jres_.noalias() -= J * res * weight;
                                 ^
1:288:5: error: indirection requires pointer operand ('double' invalid)
    *chi = *chi / n_meas_;
    ^~~~
1:288:12: error: indirection requires pointer operand ('double' invalid)
    *chi = *chi / n_meas_;
           ^~~~
1:289:5: error: implicit declaration of function 'free' is invalid in OpenCL
    free(frame_jac);
    ^
 
... logging to /root/.ros/log/71d0be0e-f487-11eb-84b2-8c16454ee8e8/roslaunch-gfuse-4150.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/root/Project/ROS/src/vio_svo/GPU_version/vio/launch/Px30.launch
[1mstarted roslaunch server http://gfuse:38163/[0m

SUMMARY
========

CLEAR PARAMETERS
 * /vio/

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.7
 * /svo/ACC_noise: 0.5
 * /svo/Cmd_Cov: 1.0
 * /svo/GYO_noise: 0.001
 * /svo/grid_size: 30
 * /svo/init_min_disparity: 30
 * /svo/init_min_tracked: 100
 * /svo/kfselect_mindist: 0.01
 * /svo/loba_num_iter: 0
 * /svo/max_n_kfs: 20
 * /svo/poseoptim_thresh: 4.0
 * /svo/quality_max_drop_fts: 60
 * /svo/quality_min_fts: 10
 * /svo/structureoptim_max_pts: 50
 * /svo/svo_ekf: 1.5
 * /vio/cam_cx: 0.497465
 * /vio/cam_cy: 0.498443
 * /vio/cam_d0: 1.01687
 * /vio/cam_fx: 0.463632
 * /vio/cam_fy: 0.823661
 * /vio/cam_height: 480
 * /vio/cam_model: ATAN
 * /vio/cam_topic: /CoreNode/grey_img
 * /vio/cam_width: 640
 * /vio/cmd_topic: /cmd_vel
 * /vio/imu_topic: /SensorNode/imu
 * /vio/odom: /vio/odom
 * /vio/start: /vio/start
 * /vio/stop: /vio/stop

NODES
  /
    vio (vio/vio)

auto-starting new master
[1mprocess[master]: started with pid [4160][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/root/Project/ROS/src/vio_svo/GPU_version/vio/launch/Px30.launch http://localhost:11311
[1msetting /run_id to 71d0be0e-f487-11eb-84b2-8c16454ee8e8[0m
[1mprocess[rosout-1]: started with pid [4171][0m
started core service [/rosout]
[1mprocess[vio-2]: started with pid [4179][0m
[vio-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
[1mdone[0m
