Cannot load library: reloc_library

 

E/LibFreeRDP: Failed to load library freerdp-openssl: java.lang.UnsatisfiedLinkError: Cannot load library: reloc_library[1308]:   149 cannot locate 'signal'...

android上,可能是因为系统版本太低

解释代码内容: def run_backend(cfg, model, states, keyframes, K): set_global_config(cfg) device = keyframes.device factor_graph = FactorGraph(model, keyframes, K, device) retrieval_database = load_retriever(model) mode = states.get_mode() while mode is not Mode.TERMINATED: mode = states.get_mode() if mode == Mode.INIT or states.is_paused(): time.sleep(0.01) continue if mode == Mode.RELOC: frame = states.get_frame() success = relocalization(frame, keyframes, factor_graph, retrieval_database) if success: states.set_mode(Mode.TRACKING) states.dequeue_reloc() continue idx = -1 with states.lock: if len(states.global_optimizer_tasks) > 0: idx = states.global_optimizer_tasks[0] if idx == -1: time.sleep(0.01) continue # Graph Construction kf_idx = [] # k to previous consecutive keyframes n_consec = 1 for j in range(min(n_consec, idx)): kf_idx.append(idx - 1 - j) frame = keyframes[idx] retrieval_inds = retrieval_database.update( frame, add_after_query=True, k=config["retrieval"]["k"], min_thresh=config["retrieval"]["min_thresh"], ) kf_idx += retrieval_inds lc_inds = set(retrieval_inds) lc_inds.discard(idx - 1) if len(lc_inds) > 0: print("Database retrieval", idx, ": ", lc_inds) kf_idx = set(kf_idx) # Remove duplicates by using set kf_idx.discard(idx) # Remove current kf idx if included kf_idx = list(kf_idx) # convert to list frame_idx = [idx] * len(kf_idx) if kf_idx: factor_graph.add_factors( kf_idx, frame_idx, config["local_opt"]["min_match_frac"] ) with states.lock: states.edges_ii[:] = factor_graph.ii.cpu().tolist() states.edges_jj[:] = factor_graph.jj.cpu().tolist() if config["use_calib"]: factor_graph.solve_GN_calib() else: factor_graph.solve_GN_rays() with states.lock: if len(states.global_optimizer_tasks) > 0: idx = states.global_optimizer_tasks.pop(0)
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03-17
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