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hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping
GNU General Public License v2.0
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Some scenes will be mismatched #6

Closed hunkyu closed 3 years ago

hunkyu commented 3 years ago

@Zale-Liu : SO3::SO3(const Quaterniond&): Assertion `unitquaternion.squaredNorm() > SMALL_EPS' failed. 2021-04-04 01-07-39 的屏幕截图 2021-04-04 01-07-52 的屏幕截图 Feature point extraction should be no problem, I feel that scantomap is a bit problematic

Zale-Liu commented 3 years ago

Yes, in this version, the scan2map module is not robust enough. You can use your own scan2map like 3.4. We will upload refined codes (Better scan2map and loop closure) in May or June.