Error when using LoopClosureDetector

[Aline-13]

Description:
I managed to make Kimera-VIO work without LCD on Euroc Dataset. However I cannot use LCD (see terminal log bellow).
I precise that I am new at using SLAM algorithms and Linux OS, I would be glad if I can have explanations as detailed as possible.

Command:

ubuntu@ubuntu-VirtualBox:~/Kimera-VIO$ ./scripts/stereoVIOEuroc.bash -lcd

Dataset's path is written in the .bash file

Console output:`

ubuntu@ubuntu-VirtualBox:~/Kimera-VIO$ ./scripts/stereoVIOEuroc.bash -lcd
Run VIO with LoopClosureDetector!
Launching:

           ██╗  ██╗██╗███╗   ███╗███████╗██████╗  █████╗
           ██║ ██╔╝██║████╗ ████║██╔════╝██╔══██╗██╔══██╗
           █████╔╝ ██║██╔████╔██║█████╗  ██████╔╝███████║
           ██╔═██╗ ██║██║╚██╔╝██║██╔══╝  ██╔══██╗██╔══██║
           ██║  ██╗██║██║ ╚═╝ ██║███████╗██║  ██║██║  ██║
           ╚═╝  ╚═╝╚═╝╚═╝     ╚═╝╚══════╝╚═╝  ╚═╝╚═╝  ╚═╝


I0424 10:11:30.855521  4462 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0424 10:11:30.858707  4462 PipelineModule.h:422] MISO Pipeline Module: Display has no output queue registered.
I0424 10:11:30.858834  4462 LoopClosureDetector.cpp:98] LoopClosureDetector:: Loading vocabulary from ../vocabulary/ORBvoc.yml
OpenCV Error: Parsing error (../vocabulary/ORBvoc.yml(1303847): Too long string or a last string w/o newline) in icvYMLSkipSpaces, file /home/ubuntu/library/opencv/modules/core/src/persistence.cpp, line 1316
terminate called after throwing an instance of 'cv::Exception'
 what():  /home/ubuntu/library/opencv/modules/core/src/persistence.cpp:1316: error: (-212) ../vocabulary/ORBvoc.yml(1303847): Too long string or a last string w/o newline in function icvYMLSkipSpaces

./scripts/stereoVIOEuroc.bash : ligne 108 :  4462 Abandon                 (core dumped) $BUILD_PATH/stereoVIOEuroc --dataset_type="$DATASET_TYPE" --dataset_path="$DATASET_PATH" --initial_k=50 --final_k=2000 --params_folder_path="$PARAMS_PATH" --use_lcd="$USE_LCD" --vocabulary_path="$VOCABULARY_PATH/ORBvoc.yml" --flagfile="$PARAMS_PATH/flags/stereoVIOEuroc.flags" --flagfile="$PARAMS_PATH/flags/Mesher.flags" --flagfile="$PARAMS_PATH/flags/VioBackEnd.flags" --flagfile="$PARAMS_PATH/flags/RegularVioBackEnd.flags" --flagfile="$PARAMS_PATH/flags/Visualizer3D.flags" --logtostderr=1 --colorlogtostderr=1 --log_prefix=1 --v=0 --vmodule=Pipeline*=00 --log_output="$LOG_OUTPUT" --save_frontend_images=1 --visualize_frontend_images=1 --output_path="$OUTPUT_PATH"

Additional files:
Please attach all the files needed to reproduce the error.

Please give also the following information:

• SparkVio branch, tag or commit used
• GTSAM version used: 4
• OpenGV version used: 1.0
• OpenCV version used: 3.3.1
• Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu 18.04 (virtual machine hosted on Windows 10)
• Did you change the source code? (yes / no): no

[aqiu2018]

I got the same error.

"ORBvoc.zip" is not downloaded completely.
you can download it manually from here, after re-downloading, extract and replace the old file(ORBvoc.yml)