zhanghairong

> ? > >  > > 那这个是什么 当你选择作为client的时候没有可以选择端口选项

> 这个是对方的端口，我的意思是可以指定自身（client）端口去连接对方。差点给我整不会了oro

After some tests, I find the problem. The exact problems are ``` CMake add_compile_options("-funsafe-math-optimizations" "-fno-signed-zeros") ``` added in CMakeLists.txt. What causes this problem?

OK, I got it! in file [GrayModel.cc](https://github.com/ethz-asl/ethzasl_apriltag2/tree/master/src/GrayModel.cc), function: compute(), change ``` bool invertible; double det_unused; A.computeInverseAndDetWithCheck(Ainv, det_unused, invertible); if (invertible) { v = Ainv * b; return; } ``` to:...

在pointcloud_preprocess.cc中，VelodyneHandler函数没有对nan处理，加入如下： ``` void PointCloudPreprocess::VelodyneHandler(const sensor_msgs::PointCloud2::ConstPtr &msg) { cloud_out_.clear(); cloud_full_.clear(); pcl::PointCloud pl_orig0, pl_orig; // LOG(INFO)