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Livox horizon porting for loam
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[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! #14

Open nbelanger99 opened 4 years ago

nbelanger99 commented 4 years ago

I'm running the livox horizon lidar on one PC and running the loam on a different PC. After about 20 seconds of running LOAM, the laserOdometry module crashes with

[laserOdometry-2] process has died [pid 6983, exit code -11, cmd /home/abacus/catkin_ws/devel/lib/loam_horizon/laserOdometry name:=laserOdometry log:=/home/abacus/.ros/log/7a965bc2-bd63-11ea-8c9c-dca632b01010/laserOdometry-2.log]. log file: /home/abacus/.ros/log/7a965bc2-bd63-11ea-8c9c-dca632b01010/laserOdometry-2*.log

The [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! error is seen for a few seconds before the crash. The logs from the console is here:

map prepare time 0.088757 ms map corner num 2328 surf num 1720 build tree time 0.470938 ms mapping data assosiation time 0.156549 ms mapping solver time 0.292138 ms Ceres Solver Report: Iterations: 8, Initial cost: 1.103842e-01, Final cost: 9.609673e-02, Termination: CONVERGENCE mapping data assosiation time 0.148910 ms mapping solver time 0.166832 ms Ceres Solver Report: Iterations: 5, Initial cost: 8.602315e-02, Final cost: 8.225180e-02, Termination: CONVERGENCE mapping optimization time 1.270840 add points time 0.018058 ms filter time 0.211446 ms mapping pub time 0.733810 ms whole mapping time 2.343390 ms +++++ [ INFO] [1593805376.805134363]: integrate rotation angle [x, y, z]: [1.94, -0.33, -3.99] points size 22824 prepare time 3.416602 sort q time 4.660179 seperate points time 8.831633 scan registration time 18.150661 ms ***** data association time 14.873315 ms solver time 15.560551 ms data association time 6.526456 ms solver time 5.991541 ms optimization twice time 43.406445 t_w_curr: -6.6868 3.92787 0.0714668 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 5.321362 ms whole laserOdometry time 48.761081 ms

map prepare time 0.096470 ms map corner num 2329 surf num 1720 build tree time 0.520440 ms mapping data assosiation time 0.173800 ms mapping solver time 0.275571 ms Ceres Solver Report: Iterations: 6, Initial cost: 9.436523e-02, Final cost: 6.917717e-02, Termination: CONVERGENCE mapping data assosiation time 0.164770 ms mapping solver time 0.185270 ms Ceres Solver Report: Iterations: 5, Initial cost: 5.967188e-02, Final cost: 5.744594e-02, Termination: CONVERGENCE mapping optimization time 1.359949 add points time 0.010248 ms filter time 0.241848 ms mapping pub time 0.814104 ms whole mapping time 2.547101 ms +++++ [ INFO] [1593805376.902820965]: integrate rotation angle [x, y, z]: [0.69, -0.35, -3.59] points size 22808 prepare time 1.079317 sort q time 1.241579 seperate points time 2.031818 scan registration time 5.068313 ms ***** data association time 3.128026 ms solver time 4.016765 ms data association time 3.586069 ms solver time 2.727348 ms optimization twice time 13.746803 t_w_curr: -6.72343 4.02965 0.0620396 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 3.788966 ms whole laserOdometry time 17.590642 ms

map prepare time 0.082609 ms map corner num 2329 surf num 1720 build tree time 0.447274 ms mapping data assosiation time 0.143510 ms mapping solver time 0.361919 ms Ceres Solver Report: Iterations: 10, Initial cost: 6.744402e-02, Final cost: 5.262286e-02, Termination: CONVERGENCE mapping data assosiation time 0.166488 ms mapping solver time 0.252285 ms Ceres Solver Report: Iterations: 7, Initial cost: 7.095284e-02, Final cost: 6.308281e-02, Termination: CONVERGENCE mapping optimization time 1.406501 add points time 0.008668 ms filter time 0.191448 ms mapping pub time 0.697279 ms whole mapping time 2.411235 ms +++++ [ INFO] [1593805377.005202862]: integrate rotation angle [x, y, z]: [1.03, -0.55, -2.57] points size 22808 prepare time 3.656908 sort q time 4.538394 seperate points time 7.492227 scan registration time 17.865371 ms ***** data association time 10.942345 ms solver time 12.398976 ms data association time 5.115764 ms solver time 5.002564 ms optimization twice time 33.810582 t_w_curr: -6.7533 4.08596 0.0733854 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 4.012230 ms whole laserOdometry time 37.845957 ms

map prepare time 0.089438 ms map corner num 2329 surf num 1720 build tree time 0.493965 ms mapping data assosiation time 0.170363 ms mapping solver time 0.287005 ms Ceres Solver Report: Iterations: 6, Initial cost: 1.103195e-01, Final cost: 9.095502e-02, Termination: CONVERGENCE mapping data assosiation time 0.162013 ms mapping solver time 0.309968 ms Ceres Solver Report: Iterations: 8, Initial cost: 9.237252e-02, Final cost: 7.364207e-02, Termination: CONVERGENCE mapping optimization time 1.463873 add points time 0.009925 ms filter time 0.191784 ms mapping pub time 0.706155 ms whole mapping time 2.486436 ms +++++ [ INFO] [1593805377.099829336]: integrate rotation angle [x, y, z]: [1.13, -1.35, -0.47] points size 22818 prepare time 1.063034 sort q time 1.209250 seperate points time 2.169937 scan registration time 5.184521 ms ***** data association time 3.292609 ms solver time 5.115651 ms data association time 3.879525 ms solver time 4.742578 ms optimization twice time 17.280391 t_w_curr: -6.74351 4.07391 0.125155 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 3.706409 ms whole laserOdometry time 21.007138 ms

map prepare time 0.084263 ms map corner num 2329 surf num 1722 build tree time 0.460991 ms mapping data assosiation time 0.173934 ms mapping solver time 0.218561 ms Ceres Solver Report: Iterations: 4, Initial cost: 9.409055e-02, Final cost: 5.388147e-02, Termination: CONVERGENCE mapping data assosiation time 0.164532 ms mapping solver time 0.260303 ms Ceres Solver Report: Iterations: 6, Initial cost: 9.407621e-02, Final cost: 8.044292e-02, Termination: CONVERGENCE mapping optimization time 1.320564 add points time 0.010206 ms filter time 0.214126 ms mapping pub time 0.735323 ms whole mapping time 2.389141 ms +++++ [ INFO] [1593805377.200963836]: integrate rotation angle [x, y, z]: [1.89, -0.95, -0.86] points size 22816 prepare time 2.536574 sort q time 2.959093 seperate points time 5.291937 scan registration time 12.669348 ms ***** data association time 8.576195 ms solver time 12.062718 ms data association time 5.610760 ms solver time 4.730669 ms optimization twice time 31.406901 t_w_curr: -6.75109 4.11751 0.116124 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 4.855206 ms whole laserOdometry time 36.289982 ms

map prepare time 0.101107 ms map corner num 2329 surf num 1722 build tree time 0.553227 ms mapping data assosiation time 0.213302 ms mapping solver time 0.362265 ms Ceres Solver Report: Iterations: 5, Initial cost: 1.234115e-01, Final cost: 9.615956e-02, Termination: CONVERGENCE mapping data assosiation time 0.207256 ms mapping solver time 0.264519 ms Ceres Solver Report: Iterations: 4, Initial cost: 1.062634e-01, Final cost: 9.858712e-02, Termination: CONVERGENCE mapping optimization time 1.648864 add points time 0.012564 ms filter time 0.232476 ms mapping pub time 0.780369 ms whole mapping time 2.800390 ms +++++ [ INFO] [1593805377.299876731]: integrate rotation angle [x, y, z]: [0.95, -0.48, -1.44] points size 22826 prepare time 1.144897 sort q time 1.357394 seperate points time 2.427705 scan registration time 5.570066 ms ***** data association time 4.282077 ms solver time 5.223420 ms data association time 3.328017 ms solver time 3.041005 ms optimization twice time 16.151030 t_w_curr: -6.74363 4.19327 0.14134 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 3.918954 ms whole laserOdometry time 20.094020 ms

map prepare time 0.096742 ms map corner num 2329 surf num 1724 build tree time 0.492551 ms mapping data assosiation time 0.179971 ms mapping solver time 0.368649 ms Ceres Solver Report: Iterations: 6, Initial cost: 1.116300e-01, Final cost: 9.810593e-02, Termination: CONVERGENCE mapping data assosiation time 0.169814 ms mapping solver time 0.318698 ms Ceres Solver Report: Iterations: 6, Initial cost: 9.766853e-02, Final cost: 9.215179e-02, Termination: CONVERGENCE mapping optimization time 1.573485 add points time 0.013255 ms filter time 0.211427 ms mapping pub time 0.810813 ms whole mapping time 2.734256 ms +++++ [ INFO] [1593805377.402951946]: integrate rotation angle [x, y, z]: [1.62, 0.01, -1.02] points size 22824 prepare time 3.171328 sort q time 3.867804 seperate points time 6.325527 scan registration time 15.191923 ms ***** data association time 10.961183 ms solver time 12.422441 ms data association time 6.200664 ms solver time 4.525675 ms optimization twice time 34.633405 t_w_curr: -6.79961 4.27341 0.108851 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 5.083826 ms whole laserOdometry time 39.750050 ms

map prepare time 0.102277 ms map corner num 2329 surf num 1724 build tree time 0.556537 ms mapping data assosiation time 0.212895 ms mapping solver time 0.614351 ms Ceres Solver Report: Iterations: 9, Initial cost: 1.348930e-01, Final cost: 1.292959e-01, Termination: CONVERGENCE mapping data assosiation time 0.211618 ms mapping solver time 0.684078 ms Ceres Solver Report: Iterations: 10, Initial cost: 1.769291e-01, Final cost: 1.661005e-01, Termination: CONVERGENCE mapping optimization time 2.342685 add points time 0.014323 ms filter time 0.248641 ms mapping pub time 0.862729 ms whole mapping time 3.606841 ms +++++ [ INFO] [1593805377.500935811]: integrate rotation angle [x, y, z]: [-0.24, -1.43, -0.93] points size 22832 prepare time 1.132153 sort q time 1.360532 seperate points time 2.429984 scan registration time 5.578387 ms ***** data association time 3.826692 ms solver time 4.381257 ms data association time 3.304233 ms solver time 2.884787 ms optimization twice time 14.671099 t_w_curr: -6.75139 4.34541 0.220668 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 3.971440 ms whole laserOdometry time 18.667702 ms

map prepare time 0.093670 ms map corner num 2329 surf num 1724 build tree time 0.534295 ms mapping data assosiation time 0.201454 ms mapping solver time 0.537933 ms Ceres Solver Report: Iterations: 9, Initial cost: 1.531017e-01, Final cost: 1.354862e-01, Termination: CONVERGENCE mapping data assosiation time 0.195855 ms mapping solver time 0.499711 ms Ceres Solver Report: Iterations: 8, Initial cost: 1.594710e-01, Final cost: 1.392649e-01, Termination: CONVERGENCE mapping optimization time 2.015361 add points time 0.014244 ms filter time 0.218832 ms mapping pub time 0.803668 ms whole mapping time 3.170260 ms +++++ [ INFO] [1593805377.632161097]: integrate rotation angle [x, y, z]: [0.71, 0.11, 0.34] points size 22831 prepare time 3.760553 sort q time 4.585729 seperate points time 8.245291 scan registration time 17.797758 ms ***** data association time 10.950101 ms solver time 10.612656 ms data association time 7.018692 ms solver time 6.652663 ms optimization twice time 35.775275 t_w_curr: -6.75811 4.40405 0.183438 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 5.083671 ms whole laserOdometry time 40.895164 ms

map prepare time 0.105533 ms map corner num 2329 surf num 1725 build tree time 0.584158 ms mapping data assosiation time 0.226090 ms mapping solver time 0.762258 ms Ceres Solver Report: Iterations: 11, Initial cost: 1.315260e-01, Final cost: 9.828710e-02, Termination: NO_CONVERGENCE mapping data assosiation time 0.192346 ms mapping solver time 0.390231 ms Ceres Solver Report: Iterations: 6, Initial cost: 1.026048e-01, Final cost: 8.887171e-02, Termination: CONVERGENCE mapping optimization time 2.203982 add points time 0.014412 ms filter time 0.231482 ms mapping pub time 0.821159 ms whole mapping time 3.405636 ms +++++ [ INFO] [1593805377.725933783]: integrate rotation angle [x, y, z]: [0.17, -0.60, 0.68] points size 22833 prepare time 1.157930 sort q time 1.417476 seperate points time 2.519418 scan registration time 5.803754 ms ***** data association time 3.876177 ms solver time 4.561039 ms data association time 3.332907 ms solver time 3.031137 ms optimization twice time 15.087391 t_w_curr: -6.72043 4.48226 0.228253 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 3.911129 ms whole laserOdometry time 19.027625 ms

map prepare time 0.088675 ms map corner num 2329 surf num 1726 build tree time 0.481346 ms mapping data assosiation time 0.194591 ms mapping solver time 0.379149 ms Ceres Solver Report: Iterations: 6, Initial cost: 1.207326e-01, Final cost: 9.795753e-02, Termination: CONVERGENCE mapping data assosiation time 0.174877 ms mapping solver time 0.239274 ms Ceres Solver Report: Iterations: 4, Initial cost: 7.245513e-02, Final cost: 7.063812e-02, Termination: CONVERGENCE mapping optimization time 1.515167 add points time 0.011146 ms filter time 0.208111 ms mapping pub time 0.735666 ms whole mapping time 2.583027 ms +++++ [ INFO] [1593805377.833089697]: integrate rotation angle [x, y, z]: [0.34, -0.02, 0.80] points size 22853 prepare time 3.575094 sort q time 4.531178 seperate points time 9.215514 scan registration time 17.829507 ms ***** data association time 13.082788 ms solver time 12.486822 ms data association time 6.109024 ms solver time 4.561595 ms optimization twice time 36.696251 t_w_curr: -6.65892 4.54649 0.237407 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 5.118766 ms whole laserOdometry time 41.847843 ms

map prepare time 0.106263 ms map corner num 2329 surf num 1726 build tree time 0.609465 ms mapping data assosiation time 0.234861 ms mapping solver time 0.272009 ms Ceres Solver Report: Iterations: 3, Initial cost: 6.189652e-02, Final cost: 3.960951e-02, Termination: CONVERGENCE mapping data assosiation time 0.234639 ms mapping solver time 0.392530 ms Ceres Solver Report: Iterations: 5, Initial cost: 5.821674e-02, Final cost: 5.274262e-02, Termination: CONVERGENCE mapping optimization time 1.800888 add points time 0.012113 ms filter time 0.234473 ms mapping pub time 0.861905 ms whole mapping time 3.042700 ms +++++ [ INFO] [1593805377.926858778]: integrate rotation angle [x, y, z]: [-0.02, 0.90, 0.19] points size 22850 prepare time 1.140007 sort q time 1.285563 seperate points time 2.325821 scan registration time 5.486170 ms ***** data association time 3.441192 ms solver time 4.009339 ms data association time 3.220643 ms solver time 4.803665 ms optimization twice time 15.819844 t_w_curr: -6.59941 4.63577 0.227091 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 3.708058 ms whole laserOdometry time 19.552237 ms

map prepare time 0.083821 ms map corner num 2329 surf num 1726 build tree time 0.446289 ms mapping data assosiation time 0.153216 ms mapping solver time 0.236729 ms Ceres Solver Report: Iterations: 4, Initial cost: 5.535861e-02, Final cost: 4.752607e-02, Termination: CONVERGENCE mapping data assosiation time 0.144866 ms mapping solver time 0.246720 ms Ceres Solver Report: Iterations: 5, Initial cost: 4.847894e-02, Final cost: 4.806095e-02, Termination: CONVERGENCE mapping optimization time 1.267166 add points time 0.012346 ms filter time 0.196208 ms mapping pub time 0.819899 ms whole mapping time 2.402594 ms +++++ [ INFO] [1593805378.026869514]: integrate rotation angle [x, y, z]: [0.08, 1.29, -0.15] points size 22849 prepare time 1.247943 sort q time 1.565065 seperate points time 2.535529 scan registration time 6.200434 ms ***** data association time 5.308622 ms solver time 6.232058 ms data association time 5.729248 ms solver time 4.105755 ms optimization twice time 21.786684 t_w_curr: -6.60238 4.72236 0.197442 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 4.824624 ms whole laserOdometry time 26.641328 ms

map prepare time 0.098666 ms map corner num 2329 surf num 1726 build tree time 0.541312 ms mapping data assosiation time 0.183770 ms mapping solver time 0.385849 ms Ceres Solver Report: Iterations: 6, Initial cost: 4.670070e-02, Final cost: 3.935936e-02, Termination: CONVERGENCE mapping data assosiation time 0.172646 ms mapping solver time 0.345932 ms Ceres Solver Report: Iterations: 6, Initial cost: 4.167309e-02, Final cost: 4.000510e-02, Termination: CONVERGENCE mapping optimization time 1.676911 add points time 0.012914 ms filter time 0.235980 ms mapping pub time 0.905524 ms whole mapping time 2.958941 ms +++++ [ INFO] [1593805378.125957537]: integrate rotation angle [x, y, z]: [0.92, -0.13, -0.16] points size 22847 prepare time 1.342126 sort q time 1.730042 seperate points time 3.435833 scan registration time 6.534890 ms ***** data association time 4.939301 ms solver time 6.254333 ms data association time 4.733277 ms solver time 6.034796 ms optimization twice time 22.376839 t_w_curr: -6.57527 4.74569 0.219111 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 5.323347 ms whole laserOdometry time 27.734215 ms

map prepare time 0.112409 ms map corner num 2329 surf num 1726 build tree time 0.598354 ms mapping data assosiation time 0.204560 ms mapping solver time 0.334662 ms Ceres Solver Report: Iterations: 5, Initial cost: 5.246237e-02, Final cost: 5.034021e-02, Termination: CONVERGENCE mapping data assosiation time 0.169248 ms mapping solver time 0.250486 ms Ceres Solver Report: Iterations: 4, Initial cost: 4.542964e-02, Final cost: 4.239291e-02, Termination: CONVERGENCE mapping optimization time 1.608382 add points time 0.011692 ms filter time 0.228299 ms mapping pub time 0.867936 ms whole mapping time 2.854529 ms +++++ [ INFO] [1593805378.227962986]: integrate rotation angle [x, y, z]: [0.71, 0.05, -1.34] points size 22856 prepare time 2.312889 sort q time 2.648988 seperate points time 4.693064 scan registration time 11.026229 ms ***** data association time 7.468673 ms solver time 11.081427 ms data association time 5.565643 ms solver time 5.867437 ms optimization twice time 30.406966 t_w_curr: -6.54398 4.83944 0.218189 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 4.647174 ms whole laserOdometry time 35.079872 ms

map prepare time 0.096026 ms map corner num 2329 surf num 1726 build tree time 0.544374 ms mapping data assosiation time 0.169425 ms mapping solver time 0.303284 ms Ceres Solver Report: Iterations: 5, Initial cost: 3.991868e-02, Final cost: 3.670366e-02, Termination: CONVERGENCE mapping data assosiation time 0.159305 ms mapping solver time 0.271477 ms Ceres Solver Report: Iterations: 5, Initial cost: 4.600488e-02, Final cost: 4.144276e-02, Termination: CONVERGENCE mapping optimization time 1.504413 add points time 0.011919 ms filter time 0.223549 ms mapping pub time 0.829539 ms whole mapping time 2.693445 ms +++++ [ INFO] [1593805378.325949150]: integrate rotation angle [x, y, z]: [0.29, 1.13, -1.87] points size 22854 prepare time 1.402200 sort q time 1.282221 seperate points time 2.067872 scan registration time 5.453943 ms ***** data association time 4.390561 ms solver time 4.672535 ms data association time 3.780205 ms solver time 4.735403 ms optimization twice time 17.878244 t_w_curr: -6.43751 4.86078 0.240408 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 4.797964 ms whole laserOdometry time 22.705667 ms

map prepare time 0.098113 ms map corner num 2329 surf num 1726 build tree time 0.568791 ms mapping data assosiation time 0.170970 ms mapping solver time 0.261864 ms Ceres Solver Report: Iterations: 4, Initial cost: 3.931713e-02, Final cost: 1.512651e-02, Termination: CONVERGENCE mapping data assosiation time 0.165434 ms mapping solver time 0.186625 ms Ceres Solver Report: Iterations: 3, Initial cost: 1.489205e-02, Final cost: 1.375470e-02, Termination: CONVERGENCE mapping optimization time 1.404270 add points time 0.010695 ms filter time 0.246120 ms mapping pub time 1.104648 ms whole mapping time 2.890286 ms +++++ [ INFO] [1593805378.430227120]: integrate rotation angle [x, y, z]: [0.71, 0.85, -1.53] points size 22831 prepare time 3.862102 sort q time 4.594036 seperate points time 8.217282 scan registration time 18.699587 ms ***** data association time 13.352813 ms solver time 13.675843 ms data association time 6.541211 ms solver time 6.522643 ms optimization twice time 40.644124 t_w_curr: -6.40923 4.88612 0.2283 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 5.049758 ms whole laserOdometry time 45.727517 ms

map prepare time 0.102514 ms map corner num 2329 surf num 1726 build tree time 0.582862 ms mapping data assosiation time 0.165033 ms mapping solver time 0.470774 ms Ceres Solver Report: Iterations: 8, Initial cost: 4.754174e-02, Final cost: 4.357610e-02, Termination: CONVERGENCE mapping data assosiation time 0.157489 ms mapping solver time 0.348286 ms Ceres Solver Report: Iterations: 7, Initial cost: 3.186635e-02, Final cost: 2.714704e-02, Termination: CONVERGENCE mapping optimization time 1.771675 add points time 0.012670 ms filter time 0.223258 ms mapping pub time 0.834951 ms whole mapping time 2.971812 ms +++++ [ INFO] [1593805378.524898041]: integrate rotation angle [x, y, z]: [0.98, 0.52, 0.08] points size 22841 prepare time 1.061984 sort q time 1.283230 seperate points time 2.082153 scan registration time 5.040447 ms ***** data association time 3.726816 ms solver time 5.554912 ms data association time 3.198720 ms solver time 4.216616 ms optimization twice time 16.966055 t_w_curr: -6.39575 4.89146 0.223838 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 3.768552 ms whole laserOdometry time 20.759684 ms

map prepare time 0.081906 ms map corner num 2329 surf num 1726 build tree time 0.449121 ms mapping data assosiation time 0.135620 ms mapping solver time 0.180433 ms Ceres Solver Report: Iterations: 3, Initial cost: 3.103869e-02, Final cost: 8.070482e-03, Termination: CONVERGENCE mapping data assosiation time 0.125630 ms mapping solver time 0.144592 ms Ceres Solver Report: Iterations: 3, Initial cost: 1.096879e-02, Final cost: 7.573373e-03, Termination: CONVERGENCE mapping optimization time 1.113101 add points time 0.011379 ms filter time 0.206899 ms mapping pub time 0.822152 ms whole mapping time 2.270083 ms +++++ [ INFO] [1593805378.627973246]: integrate rotation angle [x, y, z]: [0.48, -0.96, 0.39] points size 22867 prepare time 4.426053 sort q time 4.631833 seperate points time 7.525564 scan registration time 18.661327 ms ***** data association time 14.515247 ms solver time 12.949502 ms data association time 6.204463 ms solver time 4.455771 ms optimization twice time 38.649109 t_w_curr: -6.44879 4.97855 0.232591 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 5.158772 ms whole laserOdometry time 43.842207 ms

map prepare time 0.414862 ms map corner num 2329 surf num 1726 build tree time 0.769033 ms mapping data assosiation time 0.258683 ms mapping solver time 0.335544 ms Ceres Solver Report: Iterations: 3, Initial cost: 2.699684e-02, Final cost: 1.453884e-02, Termination: CONVERGENCE mapping data assosiation time 0.246259 ms mapping solver time 0.305237 ms Ceres Solver Report: Iterations: 3, Initial cost: 9.364712e-03, Final cost: 8.184383e-03, Termination: CONVERGENCE mapping optimization time 1.990760 add points time 0.014457 ms filter time 0.307814 ms mapping pub time 0.883728 ms whole mapping time 3.738834 ms +++++ [ INFO] [1593805378.725936913]: integrate rotation angle [x, y, z]: [0.74, -1.48, -0.14] points size 22874 prepare time 1.213879 sort q time 1.387063 seperate points time 2.505049 scan registration time 5.785833 ms ***** data association time 3.995262 ms solver time 4.497891 ms data association time 3.535944 ms solver time 3.073202 ms optimization twice time 15.376267 t_w_curr: -6.4779 5.09762 0.22664 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 4.017441 ms whole laserOdometry time 19.425688 ms

map prepare time 0.085768 ms map corner num 2329 surf num 1726 build tree time 0.469869 ms mapping data assosiation time 0.140513 ms mapping solver time 0.182027 ms Ceres Solver Report: Iterations: 3, Initial cost: 1.379788e-02, Final cost: 1.049525e-02, Termination: CONVERGENCE mapping data assosiation time 0.130110 ms mapping solver time 0.151130 ms Ceres Solver Report: Iterations: 3, Initial cost: 9.998894e-03, Final cost: 9.494781e-03, Termination: CONVERGENCE mapping optimization time 1.114513 add points time 0.011072 ms filter time 0.203858 ms mapping pub time 0.764969 ms whole mapping time 2.207032 ms +++++ [ INFO] [1593805378.827982970]: integrate rotation angle [x, y, z]: [-1.14, 0.79, 0.33] points size 22880 prepare time 3.794936 sort q time 4.576313 seperate points time 8.274240 scan registration time 18.826386 ms ***** data association time 11.038334 ms solver time 13.788688 ms data association time 5.852518 ms solver time 6.267750 ms optimization twice time 37.432094 t_w_curr: -6.33686 5.21322 0.296428 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 4.708838 ms whole laserOdometry time 42.167911 ms

map prepare time 0.094850 ms map corner num 2329 surf num 1726 build tree time 0.518531 ms mapping data assosiation time 0.150773 ms mapping solver time 0.356513 ms Ceres Solver Report: Iterations: 6, Initial cost: 5.896540e-02, Final cost: 4.612895e-02, Termination: CONVERGENCE mapping data assosiation time 0.141674 ms mapping solver time 0.208464 ms Ceres Solver Report: Iterations: 4, Initial cost: 2.762771e-02, Final cost: 2.413328e-02, Termination: CONVERGENCE mapping optimization time 1.419187 add points time 0.010427 ms filter time 0.241823 ms mapping pub time 1.254958 ms whole mapping time 3.048240 ms +++++ [ INFO] [1593805378.924936489]: integrate rotation angle [x, y, z]: [-1.98, 1.05, 0.65] points size 22877 prepare time 1.161601 sort q time 1.279281 seperate points time 2.584835 scan registration time 5.003308 ms ***** data association time 3.408335 ms solver time 4.033828 ms data association time 3.135427 ms solver time 2.638143 ms optimization twice time 13.466009 t_w_curr: -6.24052 5.32104 0.35305 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 3.833621 ms whole laserOdometry time 17.343417 ms

map prepare time 0.092713 ms map corner num 2329 surf num 1727 build tree time 0.477795 ms mapping data assosiation time 0.121426 ms mapping solver time 0.194307 ms Ceres Solver Report: Iterations: 3, Initial cost: 1.479043e-02, Final cost: 1.106637e-02, Termination: CONVERGENCE mapping data assosiation time 0.112534 ms mapping solver time 0.129390 ms Ceres Solver Report: Iterations: 3, Initial cost: 9.924856e-03, Final cost: 6.116298e-03, Termination: CONVERGENCE mapping optimization time 1.074125 add points time 0.008972 ms filter time 0.190426 ms mapping pub time 0.771524 ms whole mapping time 2.161456 ms +++++ [ INFO] [1593805379.024883091]: integrate rotation angle [x, y, z]: [-0.60, -0.54, 0.19] points size 22870 prepare time 1.216397 sort q time 1.574121 seperate points time 2.812162 scan registration time 6.408767 ms ***** data association time 5.883629 ms solver time 6.762217 ms data association time 4.006888 ms solver time 4.650395 ms optimization twice time 21.600766 t_w_curr: -6.31335 5.4333 0.382705 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 3.852808 ms whole laserOdometry time 25.476275 ms

map prepare time 0.085383 ms map corner num 2329 surf num 1727 build tree time 0.455286 ms mapping data assosiation time 0.129060 ms mapping solver time 0.254923 ms Ceres Solver Report: Iterations: 5, Initial cost: 5.343199e-02, Final cost: 4.251993e-02, Termination: CONVERGENCE mapping data assosiation time 0.121764 ms mapping solver time 0.348481 ms Ceres Solver Report: Iterations: 8, Initial cost: 4.575446e-02, Final cost: 2.552180e-02, Termination: CONVERGENCE mapping optimization time 1.348014 add points time 0.010907 ms filter time 0.194161 ms mapping pub time 0.717952 ms whole mapping time 2.376493 ms +++++ [ INFO] [1593805379.125901087]: integrate rotation angle [x, y, z]: [0.08, -2.86, 0.19] points size 22895 prepare time 1.800712 sort q time 2.210289 seperate points time 4.469190 scan registration time 8.339620 ms ***** data association time 6.061861 ms solver time 7.000941 ms data association time 5.749726 ms solver time 6.873919 ms optimization twice time 26.119945 t_w_curr: -6.48028 5.6138 0.297749 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 5.487003 ms whole laserOdometry time 31.640564 ms

map prepare time 0.110515 ms map corner num 2329 surf num 1728 build tree time 0.633441 ms mapping data assosiation time 0.206237 ms mapping solver time 0.371601 ms Ceres Solver Report: Iterations: 5, Initial cost: 7.604030e-02, Final cost: 6.793756e-02, Termination: CONVERGENCE mapping data assosiation time 0.198474 ms mapping solver time 0.411524 ms Ceres Solver Report: Iterations: 6, Initial cost: 6.371648e-02, Final cost: 6.189046e-02, Termination: CONVERGENCE mapping optimization time 1.874185 add points time 0.012968 ms filter time 0.248594 ms mapping pub time 0.936825 ms whole mapping time 3.215820 ms +++++ [ INFO] [1593805379.225881920]: integrate rotation angle [x, y, z]: [1.40, -0.59, 0.05] points size 22898 prepare time 2.058235 sort q time 2.021078 seperate points time 3.291847 scan registration time 8.231259 ms ***** data association time 8.783331 ms solver time 10.941363 ms data association time 4.933638 ms solver time 5.944940 ms optimization twice time 30.953462 t_w_curr: -6.40043 5.67126 0.326919 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 4.420090 ms whole laserOdometry time 35.401425 ms

map prepare time 0.090611 ms map corner num 2329 surf num 1730 build tree time 0.530004 ms mapping data assosiation time 0.160769 ms mapping solver time 0.200510 ms Ceres Solver Report: Iterations: 3, Initial cost: 2.137667e-02, Final cost: 1.498854e-02, Termination: CONVERGENCE mapping data assosiation time 0.153699 ms mapping solver time 0.175315 ms Ceres Solver Report: Iterations: 3, Initial cost: 1.512319e-02, Final cost: 1.224782e-02, Termination: CONVERGENCE mapping optimization time 1.268470 add points time 0.012260 ms filter time 0.229308 ms mapping pub time 0.752674 ms whole mapping time 2.376499 ms +++++ [ INFO] [1593805379.325936452]: integrate rotation angle [x, y, z]: [1.47, 1.15, -0.76] points size 22896 prepare time 1.259392 sort q time 1.559066 seperate points time 3.168401 scan registration time 6.064475 ms ***** data association time 4.883094 ms solver time 5.567769 ms data association time 4.326554 ms solver time 5.385614 ms optimization twice time 20.503912 t_w_curr: -6.3012 5.70278 0.359308 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 4.629945 ms whole laserOdometry time 25.164525 ms

map prepare time 0.099098 ms map corner num 2329 surf num 1730 build tree time 0.563610 ms mapping data assosiation time 0.132986 ms mapping solver time 0.175228 ms Ceres Solver Report: Iterations: 3, Initial cost: 3.045036e-02, Final cost: 1.179498e-02, Termination: CONVERGENCE mapping data assosiation time 0.125109 ms mapping solver time 0.142207 ms Ceres Solver Report: Iterations: 3, Initial cost: 1.041429e-02, Final cost: 7.731724e-03, Termination: CONVERGENCE mapping optimization time 1.180303 add points time 0.009803 ms filter time 0.212063 ms mapping pub time 0.873728 ms whole mapping time 2.401797 ms +++++ [ INFO] [1593805379.430156947]: integrate rotation angle [x, y, z]: [1.68, 1.57, -1.80] points size 22881 prepare time 4.453112 sort q time 4.612000 seperate points time 8.790375 scan registration time 19.043195 ms ***** data association time 15.144463 ms solver time 11.984356 ms data association time 5.964526 ms solver time 4.269261 ms optimization twice time 37.835048 t_w_curr: -6.23589 5.71349 0.43351 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 5.513909 ms whole laserOdometry time 43.382477 ms

map prepare time 0.092111 ms map corner num 2329 surf num 1730 build tree time 0.523935 ms mapping data assosiation time 0.136364 ms mapping solver time 0.271033 ms Ceres Solver Report: Iterations: 5, Initial cost: 4.273462e-02, Final cost: 2.810908e-02, Termination: CONVERGENCE mapping data assosiation time 0.127592 ms mapping solver time 0.147575 ms Ceres Solver Report: Iterations: 3, Initial cost: 1.868312e-02, Final cost: 1.270330e-02, Termination: CONVERGENCE mapping optimization time 1.248889 add points time 0.011401 ms filter time 0.221854 ms mapping pub time 0.815063 ms whole mapping time 2.412113 ms +++++ [ INFO] [1593805379.525938895]: integrate rotation angle [x, y, z]: [2.32, -0.72, -3.04] points size 22887 prepare time 1.082467 sort q time 1.280143 seperate points time 2.584601 scan registration time 4.919764 ms ***** data association time 3.588216 ms solver time 6.719271 ms data association time 3.289959 ms solver time 4.064641 ms optimization twice time 17.925645 t_w_curr: -6.34803 5.76135 0.409058 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 3.724999 ms whole laserOdometry time 21.672831 ms

map prepare time 0.084638 ms map corner num 2329 surf num 1730 build tree time 0.444672 ms mapping data assosiation time 0.188260 ms mapping solver time 0.202635 ms Ceres Solver Report: Iterations: 3, Initial cost: 3.446509e-02, Final cost: 1.069474e-02, Termination: CONVERGENCE mapping data assosiation time 0.133647 ms mapping solver time 0.175375 ms Ceres Solver Report: Iterations: 4, Initial cost: 1.938394e-02, Final cost: 1.025734e-02, Termination: CONVERGENCE mapping optimization time 1.211476 add points time 0.009824 ms filter time 0.193354 ms mapping pub time 0.707896 ms whole mapping time 2.230325 ms +++++ [ INFO] [1593805379.628979057]: integrate rotation angle [x, y, z]: [0.94, 0.28, -2.75] points size 22882 prepare time 2.423070 sort q time 2.959357 seperate points time 5.345483 scan registration time 12.007842 ms ***** data association time 8.617573 ms solver time 12.352575 ms data association time 6.107927 ms solver time 6.225266 ms optimization twice time 33.782058 t_w_curr: -6.3571 5.84121 0.406827 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 4.808508 ms whole laserOdometry time 38.630019 ms

map prepare time 0.098078 ms map corner num 2329 surf num 1731 build tree time 0.551736 ms mapping data assosiation time 0.150426 ms mapping solver time 0.245071 ms Ceres Solver Report: Iterations: 4, Initial cost: 2.547500e-02, Final cost: 9.305108e-03, Termination: CONVERGENCE mapping data assosiation time 0.155198 ms mapping solver time 0.175925 ms Ceres Solver Report: Iterations: 3, Initial cost: 1.274528e-02, Final cost: 8.804482e-03, Termination: CONVERGENCE mapping optimization time 1.325043 add points time 0.012246 ms filter time 0.231627 ms mapping pub time 0.771936 ms whole mapping time 2.463557 ms +++++ [ INFO] [1593805379.727879034]: integrate rotation angle [x, y, z]: [1.73, -0.07, -2.13] points size 22871 prepare time 1.011659 sort q time 1.208660 seperate points time 2.198872 scan registration time 5.103909 ms ***** data association time 4.352570 ms solver time 5.737053 ms data association time 3.444904 ms solver time 4.217591 ms optimization twice time 18.023642 t_w_curr: -6.41503 5.89068 0.421034 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 3.752658 ms whole laserOdometry time 21.798840 ms

map prepare time 0.087792 ms map corner num 2329 surf num 1731 build tree time 0.479373 ms mapping data assosiation time 0.129364 ms mapping solver time 0.198215 ms Ceres Solver Report: Iterations: 4, Initial cost: 2.715815e-02, Final cost: 1.225214e-02, Termination: CONVERGENCE mapping data assosiation time 0.122072 ms mapping solver time 0.181481 ms Ceres Solver Report: Iterations: 4, Initial cost: 3.128488e-02, Final cost: 2.025833e-02, Termination: CONVERGENCE mapping optimization time 1.148991 add points time 0.009333 ms filter time 0.218269 ms mapping pub time 0.751136 ms whole mapping time 2.237655 ms +++++ [ INFO] [1593805379.826921441]: integrate rotation angle [x, y, z]: [2.97, -2.01, -1.45] points size 22876 prepare time 2.215546 sort q time 2.924838 seperate points time 6.401571 scan registration time 11.338737 ms ***** data association time 8.503498 ms solver time 12.518502 ms data association time 5.364897 ms solver time 5.943096 ms optimization twice time 32.755620 t_w_curr: -6.46075 5.91873 0.49965 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 4.483661 ms whole laserOdometry time 37.266210 ms

map prepare time 0.101049 ms map corner num 2329 surf num 1731 build tree time 0.544459 ms mapping data assosiation time 0.154147 ms mapping solver time 0.374996 ms Ceres Solver Report: Iterations: 7, Initial cost: 6.429751e-02, Final cost: 3.563882e-02, Termination: CONVERGENCE mapping data assosiation time 0.146636 ms mapping solver time 0.301923 ms Ceres Solver Report: Iterations: 6, Initial cost: 4.645270e-02, Final cost: 3.966007e-02, Termination: CONVERGENCE mapping optimization time 1.638642 add points time 0.012320 ms filter time 0.226586 ms mapping pub time 0.825745 ms whole mapping time 2.833017 ms +++++ [ INFO] [1593805379.924933354]: integrate rotation angle [x, y, z]: [2.27, -2.15, -1.22] points size 22883 prepare time 1.320474 sort q time 1.608771 seperate points time 2.596042 scan registration time 6.228436 ms ***** data association time 5.719556 ms solver time 8.782203 ms data association time 4.557944 ms solver time 5.405896 ms optimization twice time 24.796798 t_w_curr: -6.47078 5.97215 0.557364 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 4.599567 ms whole laserOdometry time 29.428343 ms

map prepare time 0.116239 ms map corner num 2329 surf num 1731 build tree time 0.518838 ms mapping data assosiation time 0.165806 ms mapping solver time 0.524392 ms Ceres Solver Report: Iterations: 9, Initial cost: 8.829268e-02, Final cost: 6.081837e-02, Termination: CONVERGENCE mapping data assosiation time 0.155131 ms mapping solver time 0.175808 ms Ceres Solver Report: Iterations: 3, Initial cost: 7.351716e-02, Final cost: 6.798252e-02, Termination: CONVERGENCE mapping optimization time 1.587195 add points time 0.011777 ms filter time 0.237575 ms mapping pub time 0.829700 ms whole mapping time 2.807568 ms +++++ [ INFO] [1593805380.029154987]: integrate rotation angle [x, y, z]: [1.43, 0.14, -2.88] points size 22872 prepare time 3.536831 sort q time 3.810091 seperate points time 6.630188 scan registration time 15.340091 ms ***** data association time 10.493413 ms solver time 10.170464 ms data association time 4.067876 ms solver time 4.429225 ms optimization twice time 29.493351 t_w_curr: -6.46466 6.11735 0.530495 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! publication time 3.742180 ms whole laserOdometry time 33.259953 ms

map prepare time 0.084818 ms map corner num 2329 surf num 1731 build tree time 0.445029 ms mapping data assosiation time 0.124376 ms mapping solver time 0.197325 ms Ceres Solver Report: Iterations: 4, Initial cost: 8.367416e-02, Final cost: 2.450717e-02, Termination: CONVERGENCE mapping data assosiation time 0.117292 ms mapping solver time 0.251776 ms Ceres Solver Report: Iterations: 6, Initial cost: 1.098833e-01, Final cost: 6.590176e-02, Termination: CONVERGENCE mapping optimization time 1.172830 add points time 0.010316 ms filter time 0.188717 ms mapping pub time 0.710198 ms whole mapping time 2.189859 ms +++++ [ INFO] [1593805380.123894633]: integrate rotation angle [x, y, z]: [-0.19, 0.28, -2.77] points size 22854 prepare time 1.115033 sort q time 1.257515 seperate points time 2.065732 scan registration time 5.013825 ms [ INFO] [1593805380.227014582]: integrate rotation angle [x, y, z]: [1.56, -0.41, -2.39] points size 22828 prepare time 1.757852 sort q time 2.081837 seperate points time 3.383745 scan registration time 6.786817 ms [laserOdometry-2] process has died [pid 6983, exit code -11, cmd /home/abacus/catkin_ws/devel/lib/loam_horizon/laserOdometry name:=laserOdometry log:=/home/abacus/.ros/log/7a965bc2-bd63-11ea-8c9c-dca632b01010/laserOdometry-2.log]. log file: /home/abacus/.ros/log/7a965bc2-bd63-11ea-8c9c-dca632b01010/laserOdometry-2*.log [ INFO] [1593805380.329220417]: integrate rotation angle [x, y, z]: [1.35, -2.93, -2.97] points size 22829 prepare time 3.456243 sort q time 4.576262 seperate points time 7.473469 scan registration time 14.658734 ms [ INFO] [1593805380.431155568]: integrate rotation angle [x, y, z]: [1.81, -0.83, -2.68] points size 22817 prepare time 3.448612 sort q time 4.547931 seperate points time 8.576823 scan registration time 15.954256 ms [ INFO] [1593805380.530178763]: integrate rotation angle [x, y, z]: [1.95, -0.31, -1.84] points size 22834 prepare time 2.708011 sort q time 4.544981 seperate points time 7.393264 scan registration time 13.962203 ms [ INFO] [1593805380.631140649]: integrate rotation angle [x, y, z]: [1.22, 0.86, -1.67] points size 22806 prepare time 3.454363 sort q time 4.533307 seperate points time 7.526310 scan registration time 14.740485 ms [ INFO] [1593805380.731343140]: integrate rotation angle [x, y, z]: [2.26, 0.28, -2.78] points size 22786 prepare time 3.900040 sort q time 4.632107 seperate points time 7.591635 scan registration time 15.936325 ms [ INFO] [1593805380.828227958]: integrate rotation angle [x, y, z]: [2.60, -1.52, -2.59] points size 22792 prepare time 3.573615 sort q time 4.620064 seperate points time 8.301274 scan registration time 15.646307 ms [ INFO] [1593805380.926230605]: integrate rotation angle [x, y, z]: [0.76, 0.70, -2.05] points size 22786 prepare time 4.208916 sort q time 5.916158 seperate points time 10.540824 scan registration time 17.389581 ms [ INFO] [1593805381.030148919]: integrate rotation angle [x, y, z]: [1.19, 2.45, -0.94] points size 22772 prepare time 4.071120 sort q time 4.481183 seperate points time 7.374838 scan registration time 15.205018 ms [ INFO] [1593805381.129251967]: integrate rotation angle [x, y, z]: [0.50, -1.42, 0.61] points size 22799 prepare time 3.339527 sort q time 4.510507 seperate points time 7.281703 scan registration time 13.092277 ms [ INFO] [1593805381.231206212]: integrate rotation angle [x, y, z]: [1.51, 0.28, 0.36] points size 22803 prepare time 4.910754 sort q time 4.589096 seperate points time 7.680346 scan registration time 17.230554 ms ^C[imu_process-5] killing on exit [rviz-6] killing on exit [livox_repub-4] killing on exit [ WARN] [1593805381.292699634]: catch sig 2 [ INFO] [1593805381.292836625]: b_exit=true, exit [ INFO] [1593805381.292933963]: Wait for process loop exit [laserMapping-3] killing on exit [scanRegistration-1] killing on exit terminate called without an active exception shutting down processing monitor... ... shutting down processing monitor complete done

echoGee commented 4 years ago

Any updates on this ?

echoGee commented 4 years ago

Could anyone give some pointers on debugging this ?

PanZhichen commented 4 years ago

If you have this crash while playing a custom rosbag, please check if there is an empty point cloud frame in the rosbag.

echoGee commented 4 years ago

We have had this from a live device being plugging in to the system too.

altfool commented 2 years ago

Use ubuntu 18 system!

I encountered this problem as well. At that time, I used ubuntu 20 system. And I can't even start the launch file well. After I switched to ubuntu 18 with a full desktop version of ros-melodic which automatically includes the eigen3 and pcl. I only need to install the ceres library and it works!!!