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hm, that's a bug. Could you please try to change the following lines in graph_manager.cpp (right after the #includes):
//typedef g2o::BlockSolver< g2o::BlockSolverTraits<-1, -1> > SlamBlockSolver;
typedef g2o::BlockSolver< g2o::BlockSolverTraits<6, 3> > SlamBlockSolver;
to
typedef g2o::BlockSolver< g2o::BlockSolverTraits<-1, -1> > SlamBlockSolver;
//typedef g2o::BlockSolver< g2o::BlockSolverTraits<6, 3> > SlamBlockSolver;
I haven't used the landmark optimization in a long time. The gains have turned out to be quite negligible. As it is therefore not regularly tested, you might run into more problems.
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