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Livox-SDK / livox_horizon_loam

Livox horizon porting for loam
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Ceres solver nan problem #15

Open GraceMelon opened 4 years ago

GraceMelon commented 4 years ago

When running the parking lot rosbag and my own rosbag, I have the following ceres solver nan problem: Screenshot from 2020-07-14 16-17-58

It happens in laserOdometry.cpp when creating LidarPlaneFactor. I checked the input points, they looked fine. No clue how the nan was calculated. Does anyone have the same issue?

PanZhichen commented 4 years ago

If the odometry node can be executed normally, and the nan problem only appears at the beginning, you can ignore it.