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qcr / quadricslam

Demonstrations of performing SLAM using Quadrics
BSD 3-Clause "New" or "Revised" License
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Error in iterative mode #16

Open AllenIsaacJose opened 10 months ago

AllenIsaacJose commented 10 months ago

The error occurs for every iteration in the iterative method using ISAM2()

Indeterminant linear system detected while working near variable
8142508126285856768 (Symbol: q0).

Thrown when a linear system is ill-posed.  The most common cause for this
error is having underconstrained variables.  Mathematically, the system is
underdetermined.  See the GTSAM Doxygen documentation at
http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for
more information
AllenIsaacJose commented 10 months ago

If I change the iterative mode from every iteration to once every 6 iterations(I had 5 objects), then the error will appear away as it has enough observations. But the s.estimates = s.optimiser.calculateEstimate() step after that will create estimates for the dual quadrics and camera pose with very high error and won't give any proper results after that.