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Check failed: it != map.end() when trying to do optv #340
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Ah, that's the part of the code that fixes the scale or other things in the map. If you remove the IMU you need to fix the scale (usually by fixing the distance between the first two vertices or the distance to the first keypoint observation for example). I think there's just a bug in that part of the code for the main release, since at that time it wasn't a very tested feature. In our development branch of the code we rewrote that whole part and it should be fixed now. The function that crashes is maplab/algorithms/map-optimization/src/vi-optimization-builder.cc Lines 98 to 128 in 618a0e0
versus maplab/algorithms/map-optimization/src/vi-optimization-builder.cc Lines 234 to 344 in c7b0d78
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I load my map into the maplab console. Optimizing the map with
optvi
works perfect. But when I try to do the BA without IMU by usingoptv
oroptvi --ba_include_inertial=false
I get the following Error:Why do I get it and why only when I am doing the BA without IMU?
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