terminate called after throwing an instance of 'gtsam::ValuesKeyDoesNotExist'

[JACKLiuDay]

Hi, thank you for your great work about gtsam. I tried to use FixedLagSmootherExample.cpp for my own project. But it shows error after I run my ros bag. My gtsam is 4.0.3.

I set the lag to be 2s. But when the factor size runs to 2.x s, the program dies.

[JACKLiuDay]

I just found something wrong with my code. If I use latestState = smootherBatch->calculateEstimate(currentKey);, the program runs without error. If I use latestState = smootherBatch->calculateEstimate(); there will be error gtsam::ValuesKeyDoseNotExist.

            fixsmoother->update(swGraph, swValues, newTimestamps);                                      // isam 更新状态
            // smootherBatch->update(swGraph, swValues, newTimestamps);
            for(size_t i = 1; i < 2; ++i)
            {
                fixsmoother->update();
            }

            pcl::PointXYZI thisPose3D;
            PointTypePose thisPose6D;
            Pose3 latestState;

            newTimestamps.clear();                                                                         
            swValues.clear();
            swGraph.resize(0);

            latestState = fixsmoother->calculateEstimate<Pose3>(currentKey);
            // latestState = fixsmoother->calculateEstimate<>();                                        // wrong!!!