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w8128835 avatar w8128835 commented on June 8, 2024

@XiaotaoGuo 您好，由于前端段错误，所以我调试了aloam,把aloam作为前端然后输入给您的back_end_node模块，后来看函数调用栈，发现一旦出现回环，就会直接段错误崩掉，无论使用ceres还是g2o作为求解器都会这样，如下图：
image
我软件确实按照您readme里面的版本进行安装，系统是20.04，这方面可能有问题吗？请问您知道这个原因吗

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XiaotaoGuo avatar XiaotaoGuo commented on June 8, 2024

前端的那个看不出来什么问题哈，感觉得查一下你的 pcl 版本是否有类似问题，可以尝试用别的方法初始话点云试一下。

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XiaotaoGuo avatar XiaotaoGuo commented on June 8, 2024

后端的这个可以点进 optimize 函数看一下是内部哪里挂了，如果连函数都没进入就挂了，感觉有点像指针没初始化，可以检查一下指针是否非空。

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w8128835 avatar w8128835 commented on June 8, 2024

后端的这个可以点进 optimize 函数看一下是内部哪里挂了，如果连函数都没进入就挂了，感觉有点像指针没初始化，可以检查一下指针是否非空。

您好，后端指针什么都没有问题，是进去之后调用solve函数的时候挂的，或者ceres的optimize函数挂掉，感觉优化的输入数据不对，导致哪里挂掉了

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XiaotaoGuo avatar XiaotaoGuo commented on June 8, 2024

那可以检查一下添加的节点和边是否有问题哈

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