Hello,
I am using v0.11.12 (exe 64bit) on Windows 7.
In DB Editor, I am trying to add loop closure constraints to a multi-session database. If I fail to get enough inliers ~2 times, the program will freeze. This occurs using either g2o or TORO optimization.
(the g2o errors in console are unrelated I believe)
The DatabaseViewer.cpp errors are printed upon failed loop closure additions and the Optimizer.cpp error printed last before the program freezes.
This same problem was duplicated on a separate Win7 machine using a different dataset.
If I get lucky and my constraints work out, the program does not freeze.
[ WARN] (2016-11-30 20:50:14) OptimizerG2O.cpp:443::rtabmap::OptimizerG2O::optim
ize() g2o: Large optimimzation error detected (-259173646336.000275), aborting o
ptimization!
[ERROR] (2016-11-30 20:51:02) DatabaseViewer.cpp:4585::rtabmap::DatabaseViewer::
updateLoopClosuresSlider() Transform null for link from 0 to 0
[ WARN] (2016-11-30 20:51:03) OptimizerG2O.cpp:443::rtabmap::OptimizerG2O::optim
ize() g2o: Large optimimzation error detected (-259173646336.000275), aborting o
ptimization!
[ERROR] (2016-11-30 20:51:09) DatabaseViewer.cpp:4585::rtabmap::DatabaseViewer::
updateLoopClosuresSlider() Transform null for link from 0 to 0
[ERROR] (2016-11-30 20:51:09) DatabaseViewer.cpp:4585::rtabmap::DatabaseViewer::
updateLoopClosuresSlider() Transform null for link from 0 to 0
[FATAL] (2016-11-30 20:51:09) Optimizer.cpp:182::rtabmap::Optimizer::getConnecte
dGraph() Condition (graph::findLink(biLinks, iter->second.from(), iter->second.t
o()) == biLinks.end()) not met! [Input links should be unique between two poses
(0->0).]
Locked
