Rainer Kümmerle
Rainer Kümmerle
In principle yes. The assert here guards memory allocation that otherwise would allocate zero elements. Potentially, the Schur complement implementation can be refactored to allow for 0 poses as well.
Does https://github.com/RainerKuemmerle/g2o/pull/536 fix the problem for you?
Did you try with a variable sized solver instead? Which vertices of your edge are landmarks?
How is EdgeSE3ProjectDirect defined?
Im not actively using Windows. It might be not working, this bat file. `vcpkg --triplet x64-windows install eigen3` Would be the minimal requirement to compile. See also https://github.com/RainerKuemmerle/g2o/blob/master/.github/workflows/windows.yml
You need to add one Parameter to the edge. Not link a parameter as a vertex. The parameter describes an offset to apply on the pose vertex of the edge....
It is not a variable of the optimization problem but a fixed offset between the pose of the vertex and the camera observing the points. It allows to directly add...
Do you have the same flags on g2o and TEB?
The flags then apply to the headers of g2o but not to the libraries/binaries of g2o from the ROS package. There have been issues reported in the past caused by...
I would need to investigate this. It might be that some data structure in the search algorithm are still sorted by pointer address instead of deterministic values, e.g., vertex IDs....