Sophus ensure failed in function

[yangcc0503]

I tried to run this on the KITTI odometry dataset (velodyne laser data + calibration + gt), but it didn't work properly. I use WSL2 with Ubuntu22.04.

Sophus ensure failed in function 'static Sophus::SO3<Scalar_> Sophus::SO3<Scalar_, Options>::expAndTheta(const Tangent&, Sophus::SO3<Scalar_, Options>::Scalar) [with Scalar_ = double; int Options = 0; Sophus::SO3<Scalar_, Options>::Tangent = Eigen::Matrix<double, 3, 1>; Sophus::SO3<Scalar_, Options>::Scalar = double]', file '/project/python/build/cp310-cp310-linux_x86_64/_deps/sophus-src/sophus/so3.hpp', line 725.
SO3::exp failed! omega: {}, real: {}, img: {}*

[saurabh1002]

What is the version of kiss-icp and map-closures installed on your machine?

[yangcc0503]

I apologize — this is my first time working in this field, and I wasn’t aware that extra components like kiss-icp needed to be installed. Thank you very much for letting me know.

[saurabh1002]

If you install map-closure, kiss-icp is automatically installed if not already installed by you. So I don't think that is the problem.
The above issue occurs mainly due to the timestamp API change in KISS-ICP. We have updated the dataloaders in #76 to match the requirements for KISS-ICP >=1.2.3 version.

If you install map-closures from the main branch on this repo, the above issue should be resolved.

[yangcc0503]

Apologies for the repeated trouble. It still doesn't work, and I've already cloned the latest version from the main branch. Could I have overlook something?

[saurabh1002]

I noticed a bug with the KITTI dataloader related to the sequence parsing, which I fix in a new PR which I will merge soon to main.
However, that had nothing to do with the error you get with Sophus. I get the following results:

Could you provide the output for 'kiss_icp_pipeline --version`?

[yangcc0503]

[saurabh1002]

This looks right. Can you try again using the fix_kitti_dataloader branch from this repo?

[yangcc0503]

It's still not working, but the number of errors has decreased.

[saurabh1002]

I am not sure what the error is in this case. Can you double check if you are using the raw data and it is not modified by any chance? Could you try using our lidar visualizer tool to just visualize the raw scans and see if that works? You need to just pass it the Velodyne scans directory directly.

The WSL system could also be a potential issue. Could you try on a Linux machine to see if the error persists?

[yangcc0503]

Lidar visualizer works. Afterwards, I deleted the entire dataset and re-extracted it, but is still fails to run. As for the Linux machine, it will take some time to set up, so I will first try running it on another dataset. Thanks for your help.