Indeterminant linear system detected while working near variable

koide3 / glim

GLIM: versatile and extensible range-based 3D localization and mapping framework

MIT License

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Indeterminant linear system detected while working near variable #65

Open hardesh-peppermint opened 4 weeks ago

hardesh-peppermint commented 4 weeks ago

Hello,

Firstly thank you for making this package.

Describe the bug I'm trying to run the ROS2 package without IMU. Seeing the error in global optimization as described below.

To Reproduce Set IMU to false and use the CPU method instead of GPU

Expected behavior Error should not come

Screenshots Screenshot from 2024-08-18 21-56-29

Environment (please complete the following information):

CPU/GPU: 12th Gen i7
OS: Ubuntu 22.04
ROS: ROS2 Humble
CUDA: None

koide3 commented 3 weeks ago

That error happens when IMU is disabled and there is absolutely no overlap between submaps. Please try the following configuration that force creating odometry-based relative pose constraints to make the system well constrained.

config_global_mapping_gpu.json :

create_between_factors : true
between_registration_type : NONE

https://github.com/koide3/glim/blob/64a98d8ce59e83e07ae59e7765e656b677296c60/config/config_global_mapping_gpu.json#L33

changh95 commented 2 weeks ago

I'm getting a similar error, and I have IMU. What could be the issue?

deliangye commented 2 days ago

I run into the same issue with the data you provide -- os1_128_01. Reprodue: set IMU to true and use the CPU method instead of GPU