RGBDSlam eigen error on Landmark Optimisation

edit

Hi everyone

I have been playing with RGBDSlam to see how it creates 3d maps. I have the package compiled and running on Ubuntu 12.04 with Groovy without too many issues. With the basic kinect+rgbdslam.launch file I can generate a 3d map, save an octomap etc.

However, when I turn on landmark optimisation, after the next node is added to the graph I get the following error.

rgbdslam: /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:598: void Eigen::PlainObjectBase<derived>::_init2(Eigen::PlainObjectBase<derived>::Index, Eigen::PlainObjectBase<derived>::Index, typename Eigen::internal::enable_if<(Eigen::PlainObjectBase<derived>::Base:: SizeAtCompileTime != 2), T0>::type*) [with T0 = int, T1 = int, Derived = Eigen::Matrix<double, 6,="" 6,="" 0,="" 6,="" 6="">, Eigen::PlainObjectBase<derived>::Index = int, typename Eigen::internal::enable_if<(Eigen::PlainObjectBase<derived>::Base:: SizeAtCompileTime != 2), T0>::type = int]: Assertion `rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows) && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)' failed.

Any advice on how to go about debugging this is appreciated.