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ethz-asl / aslam_incremental_calibration

Incremental self calibration.
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The incremental calibrator crashes when the inital problem has no error terms #8

Closed furgalep closed 11 years ago

furgalep commented 11 years ago

I shouldn't be calling the code this way, but the optimizer shouldn't crash in any case. I'm not sure if this is a problem with the incremental calibrator or the optimizer but it should be fixed at the most fundamental place (probably, now that I think about it, the optimizer).

furgalep commented 11 years ago

[DEBUG] [1365853730.493910]: The target was found in the image Using the sparse qr linear solver. Initializing Optimization problem initialized with 4 design variables and 0 error terms The Jacobian matrix is 0 x 15 Floating point exception (core dumped)

jmaye commented 11 years ago

You are right Paul, the place this should be checked is in the optimizer.

jmaye commented 11 years ago

I added this line in Optimizer2.cpp:

SM_ASSERT_FALSE(Exception, _errorTerms.empty(), "It is illegal to run the optimizer with no error terms.");

furgalep commented 11 years ago

Great. Thanks.

On Mon, Apr 15, 2013 at 11:34 AM, Jerome Maye notifications@github.comwrote:

I added this line in Optimizer2.cpp:

SM_ASSERT_FALSE(Exception, _errorTerms.empty(), "It is illegal to run the optimizer with no error terms.");

— Reply to this email directly or view it on GitHubhttps://github.com/ethz-asl/aslam_incremental_calibration/issues/8#issuecomment-16375294 .

Paul Furgale