Segmentation fault when loop closing

[JajaIstso]

Hi all, hi @rubengooj,

I always get a segmentation fault during loop closure when running KITTI 00 Dataset and others (Using commit 5).
The error happens during optimizer.initializeOptimization() in the function MapHandler::loopClosureOptimizationCovGraphG2O(). It seems that somehow the information matrix is corrupted. It is set to 6x6 identity.

When I save the optimizer in g2o file there are strange values for information matrix.

What I expect is 1 0 0 0 0 0 1 0 0 0 01 0 0 0 1 0 0 1 0 1. This is the right upper side of the identity matrix.
What I get is 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0.

The segmentation fault could happen if the information matrix is not positive definite.
If I let it check with the function optimizer.verifyInformationMatrices() it returns false.

Did anybody had the same problem and solved it somehow?

Is there a specific g2o version (commit, tree) which should be used?

Thanks

[Yanjiqiang]

hi,I also encountered this problem, have you solved this problem? If so, how was it solved?