[学习笔记-SLAM篇]基础函数findEssentialMat

[学习笔记-SLAM篇]Ubuntu16.04下配置PL-SLAM（stereo）

Kraley: 博主你好，我在运行euroc数据集的时候，会出现卡在这里的问题。 ------------------------------------------ Frame #3 ---------------------------------------- VO Runtime: 166.228 Entropy ratio: inf 0 0 0 #KeyFrame: 2 #Points: 39 #Segments: 15 [Waiting for threads to finish... [LoopClosureThread] terminated. [localMappingThread] terminated. Performing Global Bundle Adjustment... ... done. 而运行kitti则直接出现： [LoopClosureThread] terminated. [localMappingThread] terminated. plslam_dataset: /usr/include/eigen3/Eigen/src/Core/:162：Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::operator[](Eigen::Index) const [with Derived = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<int>, Eigen::Matrix<int, -1, 1> >; Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType = int; Eigen::Index = long int]: 假设 ‘index >= 0 && index < size()’ 失败。 Performing Global Bundle Adjustment...已放弃 (核心已转储) 请问可能是哪里出问题了？