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lukasvst / dm-vio

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry
GNU General Public License v3.0
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JacobianFactor::updateHessian: cannot update information with constrained noise model #61

Open Neoyning opened 6 months ago

Neoyning commented 6 months ago

I am running dmvio_dataset on my own dataset, the code run successfully with GUI on, but it always terminates when it is about to reach the end of the sequence.

terminate called after throwing an instance of 'std::invalid_argument'
  what():  JacobianFactor::updateHessian: cannot update information with constrained noise model
Aborted (core dumped)

Is this issue related to the times.txt and interpolated imu.txt? or a computation bug?

Thanks~