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hku-mars / r2live

R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping package
GNU General Public License v2.0
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Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization #49

Closed zgxsin closed 2 years ago

zgxsin commented 3 years ago

I got the following error when replaying the indoor_aggressive.bag.

I am on Ubuntu 20.04. ROS-Noetic

r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!!  10.3042 -5.29684 -9.93136
r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!!  10.3042 -5.29684 -9.93136
r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!!  10.3042 -5.29684 -9.93136
r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!!  10.3042 -5.29684 -9.93136
r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!!  10.3042 -5.29684 -9.93136
r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!!  10.3042 -5.29684 -9.93136
r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!!  10.3042 -5.29684 -9.93136
r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!!  10.3042 -5.29684 -9.93136
r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!!  10.3042 -5.29684 -9.93136
r2live/src/fast_lio/IMU_Processing.cpp, 135, check_state fail !!!!  10.3042 -5.29684 -9.93136
W0914 16:21:12.606252 1219659 levenberg_marquardt_strategy.cc:115] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0914 16:21:12.606863 1219659 levenberg_marquardt_strategy.cc:115] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
stale[bot] commented 2 years ago

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