strasdat/ScaViSLAM — Issue #15: stereo_slam with a live Kinect: no display for a long time + crash low-feature cases
Author: zizipoil
Created: 2011-12-16 14:07:04+00:00
State: open

with ScaViSLAM compiled using with PCL support, with no CUDA support:
=

* running ./stereo_slam ../data/rgbd-Live.cfg in svs_build_with_pcl displays a frame with no content.
The command line shows some activity (seems to be frame numbers) but the display window gets refresh around the 1000th captured frame.

* the program crashes on an assertion when the environment has very few features:

stereo_slam: /home/vca/SOFT/ScaViSLAM/scavislam/slam_graph.cpp:165: void ScaViSLAM::SlamGraph::addKeyframe(int, int, const Pose&, const std::list > >&, const std::list > >&) [with Pose = Sophus::SE3, Camera = ScaViSLAM::StereoCamera, Proj = ScaViSLAM::SE3XYZ_STEREO, int ObsDim = 3]: Assertion `neighborid_to_strength.find(oldkey_id)!=neighborid_to_strength.end()' failed.
Aborted