优化自己的数据集出现问题

[3217237831456]

作者您好：
非常感谢您能将这么好的工作开源出来，在使用该代码测试自己的数据集时出现以下问题，不知道如何解决，请问您是否也遇到此类问题。感谢您的解答！

问题现象:

load pcd 0.02s 0.24% | undistort pcd 0.00s 0.00% | downsample 4.67s 69.36% | cut voxel 1.11s 16.56% | recut 0.64s 9.54% | trans 0.02s 0.27% | solve 0.09s 1.39% | save pcd 0.12s 1.75%
---------------------
Iteration 0
Residual absolute: 0.0408203 | percentage: 1
---------------------
Iteration 1
Residual absolute: 0.000503168 | percentage: 0.0124802
Downsample: 43.730239, Cut: 39.242238, Recut: 26.782524, Tras: 0.574735, Sol: 3.394324
terminate called after throwing an instance of 'gtsam::IndeterminantLinearSystemException'
  what():  
Indeterminant linear system detected while working near variable
2367 (Symbol: 2367).

Thrown when a linear system is ill-posed.  The most common cause for this
error is having underconstrained variables.  Mathematically, the system is
underdetermined.  See the GTSAM Doxygen documentation at
http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for
more information.

使用数据如下所示:

https://cowtransfer.com/s/23df0942e16f4c 点击链接查看 [ test.tar.xz ] ，或访问奶牛快传 cowtransfer.com 输入传输口令 uh6hpi 查看