koide3 / hdl_localization

Real-time 3D localization using a (velodyne) 3D LIDAR
BSD 2-Clause "Simplified" License
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positive definite nan error #17

Open improve100 opened 5 years ago

improve100 commented 5 years ago

@koide3 Hello, I found that the covariance matrix is not positive definite in the test process, and then decomposed into nan, the whole software hangs up.I tried to use the ensurepostive function, but the result was the same