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minwoo0611 / MA-LIO

Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation
GNU General Public License v2.0
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Program crash when effct_feat_num equals 0 #7

Closed lnexenl closed 11 months ago

lnexenl commented 11 months ago

In function h_share_model(), when effct_feat_num=0, line 738 will create a Matrix svd_mat with shape 0x3, and Eigen crashes when trying to SVD this matrix.

Eigen::MatrixXd svd_mat = ekfom_data.h_x.topLeftCorner(effct_feat_num, 3);
Eigen::JacobiSVD<MatrixXd> svd(svd_mat, Eigen::ComputeThinU | Eigen::ComputeThinV);

I am running this program with Hilti 2021 dataset. For Sequence Basement, this problem always occurs at the same timestamp of the sequence. Is there any possible fixment for this problem? image