When I run this method with my collected livox mid-40 data, the track is always at the starting point

[Dou-1996]

When I run this method with my collected livox mid-40 data, the track is always at the starting point。
I successfully run my data in [livox_mapping] without any problems. Could it be a timestamp problem. The following is the log file that appears after running my data、

this is a part of log_scanRegistration.log

Time: 1637588520.30605, num_raw: 10000, num_filted: 10000
Time: 1637588520.30605, num_raw: 10000, num_filted: 10000
Time: 1637588520.30605, num_raw: 10000, num_filted: 10000
Time: 1637588520.61262, num_raw: 10000, num_filted: 10000
Time: 1637588520.70515, num_raw: 10000, num_filted: 10000
Time: 1637588520.70515, num_raw: 10000, num_filted: 10000
Time: 1637588520.70515, num_raw: 10000, num_filted: 10000
Time: 1637588521.01172, num_raw: 10000, num_filted: 10000
Time: 1637588521.10434, num_raw: 10000, num_filted: 10000
Time: 1637588521.10434, num_raw: 10000, num_filted: 10000
Time: 1637588521.10434, num_raw: 10000, num_filted: 10000
Time: 1637588521.41079, num_raw: 10000, num_filted: 10000
Time: 1637588521.50329, num_raw: 10000, num_filted: 10000
Time: 1637588521.50329, num_raw: 10000, num_filted: 10000
Time: 1637588521.50329, num_raw: 10000, num_filted: 10000

And this is a part of log_mapping.log

Messgage time stamp = 0

Messgage time stamp = 0.000314951
New added regtime 10000

Messgage time stamp = 0.000650644
New added regtime 10000
***** older update, reject update pose *****

Messgage time stamp = 0.0185592
New added regtime 10000
***** older update, reject update pose *****

Messgage time stamp = 0.01878
New added regtime 10000
***** older update, reject update pose *****

Messgage time stamp = 0.0189171
New added regtime 10000
***** older update, reject update pose *****

Messgage time stamp = 0.0313182
New added regtime 10000
***** older update, reject update pose *****

Messgage time stamp = 0.0314946
New added regtime 10000
***** older update, reject update pose *****

Messgage time stamp = 0.0317316
New added regtime 10000
***** older update, reject update pose *****

New added regtime 10000
***** older update, reject update pose *****
Messgage time stamp = 0.241859

Messgage time stamp = 0.242165
New added regtime 10000
***** older update, reject update pose *****

Messgage time stamp = 0.242433
New added regtime 10000
***** older update, reject update pose *****

New added regtime 10000
***** older update, reject update pose *****
Messgage time stamp = 0.351952

Messgage time stamp = 0.352166
New added regtime 10000
***** older update, reject update pose *****

Messgage time stamp = 0.352386
New added regtime 10000
***** older update, reject update pose *****

[Dou-1996]

And I found the following problems. When running the example [mid40_hall_example. Bag] of [livox_mapping gihub(https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/mid40_hall_example.bag) ] to turn, the track stops before turning. The result as follow:

[ManChrys]

Hello my friend!!

prolly you solved it, but in case anyone will face this problem is all about libraries. You have to install Ceres and PCL ( I think the main reason is PCL) correct from source. #122