SO3::exp failed

[DOGEwbx]

Thanks for the V1.0 version and the updated functions. I am running the V1.0 version with stereo-inertial on my own sensor and the SO3 exp failed to pass the SO3 check in the GetDeltaRotation method called by function EdgeInertial::computeError. The message goes like:

 SO3::exp failed! omega: nan nan nan, real: nan, img: nan.

I wonder if there is anyone who met the same problem, thanks~

[knazneen123]

Hey, I am also facing the same issue while using Monocular Inertial with data from ros topics

[Dcasadoherraez]

Thanks for the v1.0 update! And yep! I'm also facing the issue for stereo in the TUM corridor1 dataset. It does not happen in every run at the same point though.

Sophus ensure failed in function 'static Sophus::SO3<Scalar_> Sophus::SO3<Scalar_, Options>::expAndTheta(const Tangent&, Sophus::SO3<Scalar_, Options>::Scalar*) [with Scalar_ = float; int Options = 0; Sophus::SO3<Scalar_, Options>::Tangent = Eigen::Matrix<float, 3, 1>; Sophus::SO3<Scalar_, Options>::Scalar = float]', file '/ssd1_lin/Thesis/ORB-SLAM/ORB_SLAM3/Thirdparty/Sophus/sophus/so3.hpp', line 617. SO3::exp failed! omega: -nan -nan -nan, real: -nan, img: -nan Aborted (core dumped)

[makolele12]

Hi, I am facing the exact same issue with Monocular-Inertial while reading data from my own recorded rosbag file.

@Dcasadoherraez in my case the error happens always at the same point in every run, interestingly, when turning around... In the previous beta version I was always meeting segmentation fault problems when turning around.

[DOGEwbx]

Thanks for the V1.0 version and the updated functions. I am running the V1.0 version with stereo-inertial on my own sensor and the SO3 exp failed to pass the SO3 check in the GetDeltaRotation method called by function EdgeInertial::computeError. The message goes like:

 SO3::exp failed! omega: nan nan nan, real: nan, img: nan.

I wonder if there is anyone who met the same problem, thanks~

I found that this assertion failed when ORB_SLAM3 tried to merge two maps, which seems to be a longstanding problem #416 #319

[JACKLiuDay]

I meet the same issue while using stereo-imu

[Thiszzz]

hello ,i have the same problem , has anyone solved it？

[VINO6520]

I face the same issue with data-set tum-vi on fisheye-stereo-IMU mode : Sophus ensure failed in function 'static SO3Sophus::SO3::Scalar Sophus::SO3<float, 0>::expAndTheta(const Sophus::SO3::Tangent &, Sophus::SO3::Scalar *) [Scalar_ = float, Options = 0]', file '../../../../libs/include/sophus/so3.hpp', line 617. SO3::exp failed! omega: nan nan nan, real: nan, img: nan