Open theyunfeng opened 1 month ago
VO模式下在特征点很少的时候后端会报错 /usr/include/eigen3/Eigen/src/Core/Redux.h:413: typename Eigen::internal::traits::Scalar Eigen::DenseBase::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_max_op<double, double>; Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op, const Eigen::Matrix<double, -1, -1> >; typename Eigen::internal::traits::Scalar = double]: Assertion `this->rows()>0 && this->cols()>0 && "you are using an empty matrix"' failed. 经过调试发现问题在当marginalization_flag == MARGIN_OLD时,代码在下图位置marginalize() 函数中崩溃,且感觉VO模式貌似不是很准,请问是参数问题吗?
VO模式下在特征点很少的时候后端会报错 /usr/include/eigen3/Eigen/src/Core/Redux.h:413: typename Eigen::internal::traits::Scalar Eigen::DenseBase::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_max_op<double, double>; Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op, const Eigen::Matrix<double, -1, -1> >; typename Eigen::internal::traits::Scalar = double]: Assertion `this->rows()>0 && this->cols()>0 && "you are using an empty matrix"' failed. 经过调试发现问题在当marginalization_flag == MARGIN_OLD时,代码在下图位置marginalize() 函数中崩溃,且感觉VO模式貌似不是很准,请问是参数问题吗?
![image](https://github.com/HITSZ-NRSL/Dynamic-VINS/assets/91672632/2897bc78-e836-44fb-88d6-0efb3ecfeb14)