search

hku-mars / mlcc

Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras
GNU General Public License v2.0
478 stars 108 forks source link

NAN observed after solving AX=B, leading to failure when optimizing extrinsics #18

Closed Nicky0325 closed 1 year ago

Nicky0325 commented 1 year ago

Hello, I ran into a problem with my own dataset that matX contains NAN elements after solving linear equation AX=B using cv::solve() function in extrinsic_refine.hpp, causing failure in optimizing extrinsic between base LiDAR and ref LiDAR.

I've checked and made sure that my input point cloud does not contain NAN elements, what are possible solution to this problem to keep the optimization process running, thank you!

samsdolphin commented 1 year ago

Hi @Nicky0325 , have you tried using different voxel sizes and eigen_ratio? Please let me know if this issue remains. I plan to update the project code but I am pretty busy this week.

samsdolphin commented 1 year ago

Hi @Nicky0325, I have updated the code. Please let me know if your problem is solved.

Nicky0325 commented 1 year ago

Thank you, this is exactly the case. I found that the feature map was not correct due to faulty configuration of these two parameters. Thank you for the hints and the update, much appreciation!