Re: Adding more loop detection in post-processing

Posted by You Li on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Adding-more-loop-detection-in-post-processing-tp2643p2648.html

Hi Mathieu,

Many thanks for providing such detailed instructions! Your result looks like magic.
However, I tried on my machines (one Ubuntu 16.04 LTS and one OSX 11.12, both with rtabmap 0.11.13), both have a issue with optimizeGTSAM. Here is the issue information

[ERROR] (2017-02-07 10:25:35.026) OptimizerGTSAM.cpp:265::optimize() GTSAM exception caught:
Indeterminant linear system detected while working near variable
2123 (Symbol: 2123).

Thrown when a linear system is ill-posed.  The most common cause for this
error is having underconstrained variables.  Mathematically, the system is
underdetermined.  See the GTSAM Doxygen documentation at
http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for
more information.
[ERROR] (2017-02-07 10:25:35.029) Rtabmap.cpp:3062::optimizeCurrentMap() Failed to optimize the graph! returning empty optimized poses...

Kind of like the problem in http://official-rtab-map-forum.206.s1.nabble.com/GTSAM-Optimization-Error-td742.html

If you would like try to reproduce the issue, here is my config file.
config.ini

I also tried TORO and g2o, instead of GTSAM in "Graph Optimization" , they did not suffer from this error; however, with the configuration and simply changed the "GTSAM" to TORO or g2o, the loops still were not detected.

Could TORO reach the similar performance as you have shown?

Thanks,
You Li