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RGBDSlam eigen error on Landmark Optimisation

asked 2013-10-21 18:58:46 -0500

NickT gravatar image

updated 2014-01-28 17:18:18 -0500

ngrennan gravatar image

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.

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answered 2014-03-05 02:43:53 -0500

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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Asked: 2013-10-21 18:58:46 -0500

Seen: 221 times

Last updated: Mar 05 '14