velodyne demo failed

[hitbg-yjm]

Do you know the problem in the picture?

/home/yjm/BALM_ws/src/BALM/src/myso3/myso3.cpp:20: SO3::SO3(const Quaterniond&): Assertion `unitquaternion.squaredNorm() > SMALL_EPS' failed

[Saki-Chen]

I get this error too when the sensor move fast.

[hitbg-yjm]

It seems right , especially in the case of rotation.

[Zale-Liu]

Is it a new velodyne bag?

[hitbg-yjm]

Yes

[Zale-Liu]

Yes

Can you upload it on onedrive or google drive? Then share the link with me. So I can debug it on my own computer. E-mail is also OK. Thank you.

[hitbg-yjm]

It is from autoware

Download the sample data (LiDAR: VELODYNE HDL-32E, GNSS: JAVAD GPS RTK Delta 3) in ROSBAG format or ROSBAG2 format.

wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_150324.tar.gz

[Zale-Liu]

It is from autoware

Download the sample data (LiDAR: VELODYNE HDL-32E, GNSS: JAVAD GPS RTK Delta 3) in ROSBAG format or ROSBAG2 format.

wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_150324.tar.gz

I have run your bag. The problem is that our new "scan2map" module runs fast but is not robust enough. It may fail when moving fast. With a robust scan2map, the result can be better like the picture. The BALM now is just a demo to show how the BA works instead of a complete slam work. We will fix the problem in the next version and give a complete slam framework.

[hitbg-yjm]

he problem is that our new "scan2map" module runs fast but is not robust enough. It may fail when moving fast. With a robust scan2map, the result can be better like the

OK，I am going to close the issue and look forward to the next version.