Re: g2o error on loop closure

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/g2o-error-on-loop-closure-tp4707p4731.html

See the g2o::OptimizableGraph::verifyInformationMatrices() method: https://github.com/RainerKuemmerle/g2o/blob/8564e1e365d4e719dceca6269a0ba203f7f43dec/g2o/core/optimizable_graph.cpp#L981-L1013

There are some conditions that the matrices should have to be valid. You may look if your covariance matrices respect those conditions. The information matrix is the inverse of the covariance. In rtabmap, the covariance is taken from twist covariance of odometry messages.

A covariance of 46.219113711096966 is quite huge. In general, it should be in order of 10-3 to 10-6 for the linear part. Also, note that non-null diagonal-only covariance matrices should work with g2o.

cheers,
Mathieu