Comments (2)
etamarlu
commented on July 17, 2024
following #1179 I managed to get it to work, the results however don't look right (uncertainties are too big).
I adjusted the code to work with ISAM, it runs 100 iterations with ISAM, but at some point isam.update returns the same 'Indeterminant' error. The error is about a point that was seen many iterations before, but for only 2 frames.
I leave this post open for now, I dig into the papers, maybe it will help me to better rephrase my initial question.
Would appreciate any suggestions on relevant reading material
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etamarlu
commented on July 17, 2024
managed to solve it by adding priors and removing nonlinear constraint factors before calling marginals
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Related Issues (20)
- python error HOT 3
- Is the NonlinearFactorGraph addPrior function deprecated? HOT 3
- Assertion `SizeAtCompileTime == Dynamic || SizeAtCompileTime == dim' failed.
- terminate called after throwing an instance of 'gtsam::IndeterminantLinearSystemException'
- compile gtsam on the ios using conan failing with a bug HOT 6
- Compiling gtsam using aarch64-linux-android clang++ failed
- Unable to build GTSAM w/ MATLAB toolbox on Windows (stable only) HOT 1
- build failed on Win11 with Visual Studio 2022 (Caused by Eigen3 static_assert) HOT 1
- GTSAM detect wrong data type with Point3 in *windows* HOT 2
- sudo make install gives cxx11 error HOT 10
- Jacobian calculate in Pose3 translation function is correct? HOT 4
- Will the new GTSAM 4.3 be binary compatible with earlier versions of GTSAM 4.x? HOT 3
- Included cephes code should contain a provenance and license HOT 9
- How about implement gtsam::KeyValueMap with hashable container? HOT 4
- Factor between two landmarks HOT 2
- Cephes requires Cmake 3.12, breaks build on Ubuntu Bionic HOT 1
- Cannont build target ALL_BUILD with VS2022 / MSVC v143
- GTSAM was built against a different version of Eigen HOT 12
- Cannot build target gtsam on Windows 10 and CLion with bundled MinGW64 and CMake
- Python Segfault on MacOS HOT 2
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