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!std::isnan(residual2) #14

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debuleilei opened this issue Jun 14, 2022 · 5 comments
Closed

!std::isnan(residual2) #14

debuleilei opened this issue Jun 14, 2022 · 5 comments

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@debuleilei
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hello, I met a problem with this
20220615-012739
it's in the first step pose_refine.launch.I have read the details about this same phenomenon but It doesn't work
can you give me some advice
@samsdolphin
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Hi, may I know if you are using the default parameters?

@debuleilei
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yes，I have successfully use it in many datasets,but at this time,I try to allign some rgbd data which have some poor aaccuracy . I,m wondering why the residual2 ==NAN,can I do some improvements？

@samsdolphin
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Hi, sorry for my late reply. Do you mean you are using your own RGBD data? The residual2 ==NAN error will happen if the initial value is too poor. This is because the points in each voxel barely fall on the same plane. You may check if it is caused by this issue in rviz.

@19855179496
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do you finish your work？if it done，can you describe how to make the results better,my results looks not good!

@19855179496
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how to set the params to make results better

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@samsdolphin @debuleilei @19855179496