The mapping only on scannet datasets aborted at a specific frame

[laliwang]

When I run the code python -W ignore demo/run_mapping.py configs/scannet/scene0059.yaml at [GeForce RTX 3090], I notice that the mapping always interrupts unexpectedly at a certain frame. For example, scene0181 interrupts at 879th, scene 0059 interrupts at 1459th. The screenshots are shown as follows:

Although the error indicates that libgcc_s.so.1 cannnot be found when pthread_cancel is called, the mapping is not supposed to quit before finished. After I solve the error thrown by libgcc_s.so.1, the mapping still interrupts at the same frame without any errors.

While for the mapping only on replica dataset, it can perform well untill finished.

[JIANG-CX]

Apologies for the oversight. The reason is that the original ScanNet pose in this particular frame is inf. Consequently, I have excluded this invalid pose in the latest version. Thanks.

[laliwang]

Thank you for your modification, I ignore that the pose is potentially invalid.

[JIANG-CX]

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