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Still same question

Thank you, I'll give it a try.

 The issue seems to be here on line 96. Changing -1 to 9 will prevent NAN from occurring, but the results are not very satisfactory. I printed out the...

The official GT provided is like this. 

 After dividing GT by 1000, it seems that the unit is no longer meters

Thank you for reply, I'll give it a try.

 Hi，I divided it by 10,000 and the result is still very strange. Could you please share your test set with me?