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NAN ERROR in g2o optimer.optimize(), anyone could help me? #426

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guoxxiong opened this issue Nov 22, 2024 · 0 comments
Open

NAN ERROR in g2o optimer.optimize(), anyone could help me? #426

guoxxiong opened this issue Nov 22, 2024 · 0 comments

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@guoxxiong
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bandpt position: 0.975, -0.364369
measurement: 0.975, -0.364369
bandpt position: 0.975, -0.465039
measurement: 0.975, -0.465039
bandpt position: 0.975, -0.566058
measurement: 0.975, -0.566058
bandpt position: 0.975, -0.667078
measurement: 0.975, -0.667078
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.768098
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.869117
bandpt position: 0.975, -0.970137
measurement: 0.975, -0.970137
bandpt position: 0.975, -0.970137
measurement: 0.975, -1.07116
bandpt position: 0.975, -1.17218
measurement: 0.975, -1.17218
bandpt position: 0.975, -1.2732
measurement: 0.975, -1.2732
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.37422
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.47511
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.58822
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.69323
bandpt position: 0.975, -0.364369
measurement: 0.975, -0.364369
bandpt position: 0.975, -0.364369
measurement: 0.975, -0.364369
bandpt position: 0.975, -0.364369
measurement: 0.975, -0.364369
bandpt position: 0.975, -0.364369
measurement: 0.975, -0.364369
bandpt position: 0.975, -0.364369
measurement: 0.975, -0.364369
bandpt position: 0.975, -0.364369
measurement: 0.975, -0.364369
bandpt position: 0.975, -0.465039
measurement: 0.975, -0.465039
bandpt position: 0.975, -0.465039
measurement: 0.975, -0.465039
bandpt position: 0.975, -0.465039
measurement: 0.975, -0.465039
bandpt position: 0.975, -0.465039
measurement: 0.975, -0.465039
bandpt position: 0.975, -0.465039
measurement: 0.975, -0.465039
bandpt position: 0.975, -0.465039
measurement: 0.975, -0.465039
bandpt position: 0.975, -0.566058
measurement: 0.975, -0.566058
bandpt position: 0.975, -0.566058
measurement: 0.975, -0.566058
bandpt position: 0.975, -0.566058
measurement: 0.975, -0.566058
bandpt position: 0.975, -0.566058
measurement: 0.975, -0.566058
bandpt position: 0.975, -0.566058
measurement: 0.975, -0.566058
bandpt position: 0.975, -0.566058
measurement: 0.975, -0.566058
bandpt position: 0.975, -0.667078
measurement: 0.975, -0.667078
bandpt position: 0.975, -0.667078
measurement: 0.975, -0.667078
bandpt position: 0.975, -0.667078
measurement: 0.975, -0.667078
bandpt position: 0.975, -0.667078
measurement: 0.975, -0.667078
bandpt position: 0.975, -0.667078
measurement: 0.975, -0.667078
bandpt position: 0.975, -0.667078
measurement: 0.975, -0.667078
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.768098
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.768098
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.768098
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.768098
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.768098
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.768098
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.869117
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.869117
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.869117
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.869117
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.869117
bandpt position: 0.975, -0.869117
measurement: 0.975, -0.869117
bandpt position: 0.975, -0.970137
measurement: 0.975, -0.970137
bandpt position: 0.975, -0.970137
measurement: 0.975, -0.970137
bandpt position: 0.975, -0.970137
measurement: 0.975, -0.970137
bandpt position: 0.975, -0.970137
measurement: 0.975, -0.970137
bandpt position: 0.975, -0.970137
measurement: 0.975, -0.970137
bandpt position: 0.975, -0.970137
measurement: 0.975, -0.970137
bandpt position: 0.975, -0.970137
measurement: 0.975, -1.07116
bandpt position: 0.975, -0.970137
measurement: 0.975, -1.07116
bandpt position: 0.975, -0.970137
measurement: 0.975, -1.07116
bandpt position: 0.975, -0.970137
measurement: 0.975, -1.07116
bandpt position: 0.975, -0.970137
measurement: 0.975, -1.07116
bandpt position: 0.975, -0.970137
measurement: 0.975, -1.07116
bandpt position: 0.975, -1.17218
measurement: 0.975, -1.17218
bandpt position: 0.975, -1.17218
measurement: 0.975, -1.17218
bandpt position: 0.975, -1.17218
measurement: 0.975, -1.17218
bandpt position: 0.975, -1.17218
measurement: 0.975, -1.17218
bandpt position: 0.975, -1.17218
measurement: 0.975, -1.17218
bandpt position: 0.975, -1.17218
measurement: 0.975, -1.17218
bandpt position: 0.975, -1.2732
measurement: 0.975, -1.2732
bandpt position: 0.975, -1.2732
measurement: 0.975, -1.2732
bandpt position: 0.975, -1.2732
measurement: 0.975, -1.2732
bandpt position: 0.975, -1.2732
measurement: 0.975, -1.2732
bandpt position: 0.975, -1.2732
measurement: 0.975, -1.2732
bandpt position: 0.975, -1.2732
measurement: 0.975, -1.2732
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.37422
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.37422
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.37422
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.37422
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.37422
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.37422
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.47511
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.47511
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.47511
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.47511
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.47511
bandpt position: 0.975, -1.37422
measurement: 0.975, -1.47511
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.58822
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.58822
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.58822
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.58822
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.58822
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.58822
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.69323
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.69323
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.69323
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.69323
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.69323
bandpt position: 0.975, -1.58822
measurement: 0.975, -1.69323
bandpt position: -nan, -nan
measurement: 0.975, -0.364369
teb_local_planner/g2o_types/edge_via_point.h
	line = 90
	cond = std::isfinite(_error[0])
	message = 
[FATAL] [1732258518.080993652]: EdgeViaPoint::computeError() _error[0]=-nan
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