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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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randomly occur error: terminate called after throwing an instance of 'std::out_of_range' what(): map::at #799

Open cdb0y511 opened 2 years ago

cdb0y511 commented 2 years ago

Hi, @matlabbe I notice this error when I use T265 + L515 model. It traces back to

__GI_raise 0x00007fbcf27fb18b __GI_abort 0x00007fbcf27da859

0x00007fbcf2a60911 0x00007fbcf2a6c38c std::terminate() 0x00007fbcf2a6c3f7 __cxa_rethrow 0x00007fbcf2a6c6fd gtsam::internal::linearAlgorithms::optimizeBayesTree<…>(const gtsam::GaussianBayesTree &) 0x00007fbcebf58d1d gtsam::GaussianBayesTree::optimize() const 0x00007fbcebf45932 gtsam::GaussianFactorGraph::optimize(const gtsam::Ordering &, const std::function<…> &) const 0x00007fbcebf71042 gtsam::NonlinearOptimizer::solve(const gtsam::GaussianFactorGraph &, const gtsam::NonlinearOptimizerParams &) const 0x00007fbcec04bf0b gtsam::GaussNewtonOptimizer::iterate() 0x00007fbcec00139b rtabmap::OptimizerGTSAM::optimize OptimizerGTSAM.cpp:572 rtabmap::Rtabmap::optimizeGraph Rtabmap.cpp:4554 rtabmap::Rtabmap::optimizeCurrentMap Rtabmap.cpp:4469 rtabmap::Rtabmap::process Signature.h:70 rtabmap::RtabmapThread::process OdometryEvent.h:69 rtabmap::RtabmapThread::mainLoop RtabmapThread.cpp:204 UThread::ThreadMain UThread.cpp:283 UThreadC::ThreadMainHandler UThreadC.h:392 start_thread 0x00007fbcefd30609 clone 0x00007fbcf28d7293 rtabmap::OptimizerGTSAM::optimize OptimizerGTSAM.cpp:572: try { optimizer->iterate(); ++it; } If the detect RATE gets larger (3HZ- 10HZ), it occurs more often. I am not sure it is the GTSAM bugs or rtabmap itself. Have any advice to solve it? Thanks,
matlabbe commented 2 years ago

Which GTSAM version is used?

cdb0y511 commented 2 years ago

I think it is GTSAM 4.1 Release. I notice there is a recent release. I update the GTSAM Release 4.1.1. Still, it needs some time to test if this issue is gone. Do you think it comes from GTSAM?

matlabbe commented 2 years ago

Related to https://github.com/introlab/rtabmap/issues/823 ?

cdb0y511 commented 2 years ago

I think so.