Fix indeterminant linear system

koide3 / glim

GLIM: versatile and extensible range-based 3D localization and mapping framework

MIT License

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Fix indeterminant linear system #92

Closed koide3 closed 1 month ago

koide3 commented 1 month ago

Fix the graph when an indeterminant linear system is detected by inserting a damping factor and resetting the smoother.
Add a few optimization tools to the standard viewer.

changh95 commented 1 month ago

Just tested this code - it works nicely.

I tested this code on a rosbag with some corruption when global_mapping_gpu is on. The indeterminant linear system exception arised due to corruption in dataset. Prior to this code change, the system crashed soon after. But with this code change, the isam2 resets and lets the system keep going. Despite a number of times this exception appeared, GLIM managed to terminate safely.