Runtime Error with Processed Parking-Lot Bag – iSAM2::update Fails After First Pose Prior #9
Description
Hi, thank you for releasing this excellent SLAM framework!
I successfully compiled the SLIDE_SLAM code from this repository using the instructions provided. However, I encountered an error when running the demo with the processed version of the parking-lot bag (from the datasets linked in the README).
The node crashes when it reaches the following line:
graph.cpp
isam->update(fgraph, fvalues);
At that point, the following error is printed:
ERROR: Factor graph optimization is done when adding the first pose prior, this may cause problems!!!
After this message, the process terminates.
My questions:
Is this behavior expected with the processed dataset?
Could this be due to how the initial pose prior is handled?
Are there any dataset-specific parameters that need to be set for the parking-lot demo?
I'd really appreciate any guidance or suggestions you can provide. Thank you again for your great work on this project!
Best regards