Errors when running in SLAM

[duongnamduong]

Hi,
Thanks for your outstanding work. Recently, I try to integrate your project into a SLAM following your instructions and I have some error as below:

1. I have always an error factorize failed when calling optimizer->optimize(nIterations); and I don't know where it comes from.
2. If reusing optimizer, call optimizer->clear() to reset the graph. When exiting my program, I have another error:
   [CUDA Error] driver shutting down (code: 4) at c:\users\username\cuda-bundle-adjustment\src\device_buffer.h:50
3. In addition, I would like to fix all PoseVertex and optimize only LandmarkVertex. These are some errors displaying:

factorize failed
[CUDA Error] no error (code: 0) at C:/Users/nduong/bcom/OpenSources/cuda-bundle-adjustment/src/./cuda_block_solver.cu:1207
[CUDA Error] no error (code: 0) at C:/Users/nduong/bcom/OpenSources/cuda-bundle-adjustment/src/./cuda_block_solver.cu:1123
[CUDA Error] no error (code: 0) at C:/Users/nduong/bcom/OpenSources/cuda-bundle-adjustment/src/./cuda_block_solver.cu:1103
[CUDA Error] no error (code: 0) at C:/Users/nduong/bcom/OpenSources/cuda-bundle-adjustment/src/./cuda_block_solver.cu:1160

Your project doesn't seem to support this?

[atakagi-fixstars]

Hi, @duongnamduong
Thank you for notifying.

In addition, I would like to fix all PoseVertex and optimize only LandmarkVertex. These are some errors displaying:

As described in #7, Pose-only or Landmark-only optimization is currently not supported.
I want to support in the future.

Regards,