exception std::bad_typeid when I try insert an edge of type EdgeSE3PointXYZ about g2o HOT 5 CLOSED

This edge is using parameters along with the cache functionality. I guess our documentation about that is really bad. You need to do something like this:

  // do this once after you created the optimizer
  // add the camera parameters, caches are automatically resolved in the addEdge calls
  g2o::ParameterSE3Offset* cameraOffset = new g2o::ParameterSE3Offset;
  cameraOffset->setId(0);
  _optimizer->addParameter(cameraOffset);

Then before adding the edge, specify the parameter by setParameterId() (see below, example from my code, therefore strange variable names):

    g2o::EdgeSE3PointXYZ* refEdge = new g2o::EdgeSE3PointXYZ;
    refEdge->vertices()[0] = refCamera;
    refEdge->vertices()[1] = point;
    refEdge->setMeasurement(match.refKeypoint->xyz().cast<double>());
    cvutils::informationMatrixForPointXYZ(informationForFeatures, match.refKeypoint->xyz(), camera.fx(), camera.baseline());
    refEdge->setInformation(informationForFeatures);
    refEdge->setParameterId(0, 0);
    optimizer.addEdge(refEdge));

Hope this helps.

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Thanks for your answer, I will try it now. By the way, where I can get
a better documentation?
thanks again
Maikel

El 19/02/2014 10:23 AM, Rainer Kümmerle escribió:

This edge is using parameters along with the cache functionality. I
guess our documentation about that is really bad. You need to do
something like this:

// do this once after you created the optimizer
// add the camera parameters, caches are automatically resolved in the addEdge calls
g2o::ParameterSE3Offset* cameraOffset = new g2o::ParameterSE3Offset;
cameraOffset->setId(0);
_optimizer->addParameter(cameraOffset);

Then before adding the edge, specify the parameter by setParameterId()
(see below, example from my code, therefore strange variable names):

g2o::EdgeSE3PointXYZ* refEdge = new g2o::EdgeSE3PointXYZ;
refEdge->vertices()[0] = refCamera;
refEdge->vertices()[1] = point;
refEdge->setMeasurement(match.refKeypoint->xyz().cast());
cvutils::informationMatrixForPointXYZ(informationForFeatures, match.refKeypoint->xyz(), camera.fx(), camera.baseline());
refEdge->setInformation(informationForFeatures);
refEdge->setParameterId(0, 0);
optimizer.addEdge(refEdge));

Hope this helps.

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Thank you very much, I don't have this problem any more.

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Hi Maikel,

Can you please send me the .g2o file that your fixed code have generated?
I'm trying to understand how to create the .g2o file to use in g2o_viewer, but I'm having problems with the EDGE_SE3_TRACKXYZ type.

I'm starting to use g2o, so it would be really great if you could help me.

Thanks,
David

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setParameterId

Hi Maikel,

Can you please send me the .g2o file that your fixed code have generated? I'm trying to understand how to create the .g2o file to use in g2o_viewer, but I'm having problems with the EDGE_SE3_TRACKXYZ type.

I'm starting to use g2o, so it would be really great if you could help me.

Thanks, David

It will be something like

PARAMS_SE3OFFSET 0 0 0 0 0 0 0 1 
VERTEX_SE3:QUAT 1 0.104345 -0.14683 0.0259318 -0.0147856 -0.0130104 -0.0153391 0.999688 
VERTEX_SE3:QUAT 2 0.0958852 -0.151532 0.0290417 -0.013642 -0.0117871 -0.0165527 0.9997 
....
VERTEX_TRACKXYZ 6 0.218348 0.615178 5.04324 
VERTEX_TRACKXYZ 7 0.189336 0.329615 4.98097 
...
EDGE_SE3_TRACKXYZ 1 6 0 1.80483 -1.14227 2.20213 1 0 0 1 0 1 
EDGE_SE3_TRACKXYZ 1 7 0 1.80483 -1.14227 2.20213 1 0 0 1 0 1 
EDGE_SE3_TRACKXYZ 2 7 0 1.80728 -0.850002 2.26974 1 0 0 1 0 1 

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