FATAL ERROR

[m.omar82]

Dear friends

I try to modify the behavior of the memory management or RTABMAP, by retrieving some node from LTM. i successful to run my modification code on the standard dataset for loop closure.

But when I try it with "TUM/rgbd_dataset_freiburg2_pioneer_slam"  near to image number 1340 I get this error:


terminate called after throwing an instance of 'UException'
  what():  [FATAL] {139623024674560} (2017-02-04 07:56:00.408) Signature.cpp:120::addLink() Condition (link.to() != this->id()) not met! [604->604 for signature 604 (type=1)]
Aborted (core dumped)

any suggestions!!

or how can overcome this error, for example delete the node or ignore

[matlabbe]

Hi,

The condition in the error is not respected. It tries to add a link on the same node 604, which doesn't make sense, so it is why it asserts. The question is, why addLink() is called in your code with a link with "from" and "to" equals?

cheers,
Mathieu

PS: Received this week your postal card, happy new year to you too!

[m.omar82]

Dear Sir

I start get this error, when retreving from LTM if the wordID > 1000, I am suing SURF.

[ERROR] (2017-02-06 07:59:07.027) DBDriverSqlite3.cpp:2458::loadWordsQuery() Query (67) doesn't match loaded words (0)
[ERROR] (2017-02-06 07:59:07.028) VWDictionary.cpp:564::addWordRef() Not found word 4106
[ERROR] (2017-02-06 07:59:07.028) VWDictionary.cpp:564::addWordRef() Not found word 4107
[
any idea will be very helpful


even after set T_time = 0 to be inf and Max signatures = 0 inf
still save in SQL, how can disable LTM?

[matlabbe]

Hi,

When closing it will save automatically to database. Words are not saved exactly at the same moment than nodes are saved to database. If for some reasons the dictionary is not saved at the end, nodes will point on words not existing in database, causing the error. It could be hard to debug, unless you can reproduce with the original code.

If you want to keep everything in working memory:
"Rtabmap/TimeThr"="0"
"Rtabmap/MemoryThr"="0"
"Mem/NotLinkedNodesKept"="false"

That way sql would not be called while mapping, just when closing.

cheers