b51 / ceressim3optimize Goto Github PK

thank you for your sharing,
I found some errors when running optimize click,

Error message :

QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
Sophus ensure failed in function 'Sophus::RxSO3Group<_Scalar, _Options>::RxSO3Group(const Eigen::Quaternion<typename Eigen::internal::traits<Sophus::SO3Group<_Scalar, _Options> >::Scalar>&) [with _Scalar = double; int _Options = 0; typename Eigen::internal::traits<Sophus::SO3Group<_Scalar, _Options> >::Scalar = double]', file '/datasets/CeresSim3Optimize/include/sophus/rxso3.hpp', line 663.
Scale factor must be greater-equal epsilon.
Aborted (core dumped)
root@xunwei-Precision-7550:/datasets/CeresSim3Optimize/build# ./CeresSim3Optimize
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.922189e+02 0.00e+00 3.76e+01 0.00e+00 0.00e+00 1.00e+04 0 8.03e-02 1.86e-01
double free or corruption (out)
Aborted (core dumped)