Logger reports 10^9 Ransac iterations

[violetteavi]

Description: I am integrating Kimera into a simulator. I examined the debug output using the Jupyter notebooks of Kimera-Evaluation. When I turn off 1point and 2point stereo ransac, the log shows a spike to 10^9 stereo ransac iterations. This is probably an error in the logging-- any ideas why this might be happening?

Command:

roslaunch kimera_vio_ros <launchfile>
jupyter notebook

With 1pt stereo and 2pt mono Ransac Settings:

useRANSAC: 1
minNrMonoInliers: 10
minNrStereoInliers: 5
ransac_threshold_mono: 1e-06
ransac_threshold_stereo: 1
ransac_use_1point_stereo: 1
ransac_use_2point_mono: 1
ransac_max_iterations: 100
ransac_probability: 0.995
ransac_randomize: 0

Plot:

Without 1pt stereo and 2pt mono Ransac Settings:

useRANSAC: 1
minNrMonoInliers: 10
minNrStereoInliers: 5
ransac_threshold_mono: 1e-06
ransac_threshold_stereo: 1
ransac_use_1point_stereo: 0
ransac_use_2point_mono: 0
ransac_max_iterations: 100
ransac_probability: 0.995
ransac_randomize: 0

Plot:

Please give also the following information:

• SparkVio branch, tag or commit used: master
• SparkVioRos branch, tag or commit used: Sequential rosbag (here)
• GTSAM version used:
• OpenGV version used:
• OpenCV version used:
• Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu 18.04
• Did you change the source code? (yes / no): no