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Description
Summary: In executing single-robot-example and multi-robot-example on datasets in dpgo/data/, a check fails within DPGO_solver.cpp and returns
F0523 17:45:44.194057 295076 DPGO_solver.cpp:294] Check failed: m.p1 == src
*** Check failure stack trace: ***
Aborted (core dumped)
This error has been observed on the following datasets:
- ais2klinik.g2o (Note: line 2 of the file
FIX 0should be ignored when reading g2o file) - cubicle.g2o
- g2o50k.g2o
- g2o100k.g2o
- rim.g2o
Reproducing Error:
- Change directory to
build
cd ~/catkin_ws/src/dpgo/build- Execute
single-robot-example, wheredataset.g2ois the name of a file from the list provided in the bug summary section.
./bin/single-robot-example ../data/dataset.g2othe program returns
alex@alex:~/catkin_ws/src/dpgo/build$ ./bin/single-robot-example ../data/ais2klinik.g2o
Single robot pose-graph optimization demo.
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0523 17:46:07.459980 295336 PGOAgent.cpp:224] Computing local odometry initialization.
F0523 17:46:07.477582 295336 DPGO_solver.cpp:294] Check failed: m.p1 == src
*** Check failure stack trace: ***
Aborted (core dumped)
- Execute
multi-robot-example, wheredataset.g2ois the name of a file from the list provided in the bug summary section.
./bin/multi-robot-example 5 ../data/data_sets.g2othe program returns
alex@alex:~/catkin_ws/src/dpgo/build$ ./bin/multi-robot-example 3 ../data/ais2klinik.g2o
Multi-robot pose graph optimization example.
Simulating 3 robots.
Loaded dataset from file ../data/ais2klinik.g2o.
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0523 17:38:51.861912 290697 PGOAgent.cpp:224] Computing local odometry initialization.
I0523 17:38:51.873019 290697 PGOAgent.cpp:344] Robot 0 initializes in global frame!
I0523 17:38:51.876274 290697 PGOAgent.cpp:224] Computing local odometry initialization.
F0523 17:38:51.876972 290697 DPGO_solver.cpp:294] Check failed: m.p1 == src
*** Check failure stack trace: ***
Aborted (core dumped)
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