laser mapping crash after loop closure

hku-mars / loam_livox

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR

GNU General Public License v2.0

1.44k stars 436 forks source link

laser mapping crash after loop closure #31

Closed wlt027 closed 4 years ago

wlt027 commented 4 years ago

Hi,I found that laser mapping will crash after loop closure.It happens both on rosbag_loop_simple and rosbag_loop.Here are some screen shots. loop_simple loop

Any suggestions?

ziv-lin commented 4 years ago

Sorry for replying to your issue so late since I am busying in working with my homework and exams recently. Yes, this actually a bug here, which relate to some operation conflicts among different thread. I will try to figure out this bug and fix it in future updates.

wlt027 commented 4 years ago

Thank you for your repley.I'm looking forward to the next updates.

ziv-lin commented 4 years ago

I have found out the problem, it is the deconstruction of the variable "scene_align" cause the crash. I will try to fix this problem in our future update...

wlt027 commented 4 years ago

problem solved