Mostafa
Mostafa
Were you able to solve this issue?
@killnice I think this occurs when the principal rays are parallel to each others, it does not mean that the poses are incorrect.
Adding a discussion regarding the randomness/inconsistency in the results. Related to [here](https://groups.google.com/g/ceres-solver/c/Ot_sT1iUgQQ/m/5OPgTTWwCgAJ) and [here](https://groups.google.com/g/ceres-solver/c/_phehEuHxxM/m/h-CQZ2jTEAAJ).
> Hi, I tried your [fork](https://github.com/melhashash/ov2slam) but ended up with `Segmentation fault (core dumped)` > I am using the Tartan Air Dataset, and had modified parameters_files/accurate/image_sequence/param.yaml accordingly. > > Here's...
Could you increase the `fps` and try again. It works for me if I set it to other than 1. It seems OV2SLAM relies on the timestamp on other modules...
I suggest building the original system and test it to make sure your environment is working properly then you can pull this PR.
@paucarre thanks for the PR, I tested the code and it works fine. The only thing is that you did not multiply the color values by 255 at the end....
@xubury @dthuerck I am facing the same issue reported here by @cdcseacave. I packed the problem to a bin file in this issue https://github.com/dthuerck/mapmap_cpu/issues/37#issuecomment-1218231886
I think I might have found the reason, looks like the "labels" within the "label_set" are assumed to be sorted. If not, bad things happen. Correct?
Solved by making sure labels are sorted. cc: @cdcseacave in case you are still interested in trying it again.