core dumped when run the MH_02_easy dataset

[xuxu123]

gyroscope bias initial calibration -0.0104931 0.0352662 0.0750656
result g 9.89603 -0.590548 -9.42942 -2.94427
refine 9.81007 -0.533594 -9.32436 -3.00151
terminate called after throwing an instance of 'std::string'
Aborted (core dumped)

I debug the code. There is a error in Estimator::optimization().

[qinhuaping]

how to fix

[dongqingyueyue]

I have the same problem when test the procedure , also I want to know do you solve it ?How to fix ?

[RyanMiao11]

I remove the use of this thread“loop_detection = std::thread(process_loop_detection)”,then it works.But I do not know the reason...

[haithink]

refer to https://github.com/heguixiang/Remove_ROS_VINS/issues/10, config file have a wrong path, change euroc_config.yaml pattern_file and voc_file file