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The KF was not found in allKFs_. This should not happen #13
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Hi @eloiht ! Thanks for your ticket. This has always been a pain point :p |
Hi @suchetanrs Thank you for your response. I have reproduced the issue, and uncommented some logs to have extra information.
Hope this helps. Please let me know if there is anything I can do on my side to help you address this issue. |
Hi, thanks for your reply. If you have time and would like to fix this, here is the context. |
Hi @suchetanrs Could you please confirm each of the following statements if I understood right?
Thank you |
Hello,
Yes. The origin from ORB_SLAM3::Map * is always zero for every map internally to ORB_SLAM3 and hence the extra variable.
Yes. The origin of the map in the world frame is simply zero inside of ORB_SLAM3 and hence the extra estimation. Yes. For the first map it will be robot_x, robot_y.
We obviously cannot guarantee that all the maps will be merged. There might be some maps that are still unmerged if they did not find common features with other maps in the atlas. But yes, the idea is right. If all maps are merged then all the keyframe poses will be accurate in reference to the world frame.
Yes. I am also under a very bad assumption that the previous keyframe id is just
Yes. I also think that if a keyframe is marked as bad then it won't exist in the vector we get when we do "GetAllKeyFrames()". I am not completely sure about the second statement. Will need to confirm.
Yes. This would be right to do if we assume maps never merge. Consider this, |
Hi, i was having the same problem,it shows: |
Hi @suchetanrs
First of all thank you for creating this project
I have managed to run the project successfully but when tracking is lost and it creates a second map the code runs into the following exception
ORB-SLAM3-ROS2-Docker/orb_slam3_ros2_wrapper/src/orb_slam3_interface.cpp
Line 99 in a25df1b
What could be causing this and how to fix it/ avoid the situtation?
Thank you
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