search

TUC-ProAut / libRSF

A robust sensor fusion library for online localization.
https://mytuc.org/libRSF
GNU General Public License v3.0
307 stars 67 forks source link

Issues about ICRA19_Ranging #13

Closed cavayangtao closed 1 year ago

cavayangtao commented 1 year ago

Hi Tim, many thanks for releasing this impressive work. The demo of ICRA19_GNSS runs smoothly, but I have some issues about the demo of ICRA19_Ranging. When I use: libRSF/build/applications/ICRA19_Ranging libRSF/datasets/Indoor UWB/Indoor_UWB_Input.txt Result_Indoor_UWB.txt error: stmm It reports: Error in ICRA19_Ranging.cpp | Line 257 | ParseErrorModel(): Wrong Error Model: error: Then I use: libRSF/build/applications/ICRA19_Ranging libRSF/datasets/Indoor UWB/Indoor_UWB_Input.txt Result_Indoor_UWB.txt stmm It reports: Error in DataSet.h | Line 174 | getElement(): Element doesn't exist at: 0 Type: 22 Number: 0 Error in Data.cpp | Line 98 | getStdDevDiagonal(): Data has no covariance element!

Regards, Tao

cavayangtao commented 1 year ago

I also change the folder name of "Indoor UWB" to "Indoor_UWB", and run: libRSF/build/applications/ICRA19_Ranging libRSF/datasets/Indoor_UWB/Indoor_UWB_Input.txt Result_Indoor_UWB.txt error: stmm It reports: terminate called after throwing an instance of 'std::invalid_argument' what(): stod Aborted (core dumped)

tipf commented 1 year ago

Hi Tao, Thanks for raising this issue. I can reproduce the error and will try to find the reason for it.

I did not include the ranging application in the automated tests, so it could be broken by recent changes.

tipf commented 1 year ago

Should be fixed by 0cfde758808a28f87872c0a0f03d9b8177708323. I recently added an additional field to the range data definition that was missing from the old data set.