TransformToStart（featureAssociation）error

[hehern]

when i run the lego_loam using my own bag,it crashed. I found that the intensity of one point is nan,so after the conversion of TransformToStart, the coordinate(x,y,x) of the point is nan. Then kdtreeSurfLast->nearestKSearch will crash. So, 　I want to know what is the function of TransformToStart,and why needs intensity?

    float s = 10 * (pi->intensity - int(pi->intensity));
    float rx = s * transformCur[0];
    float ry = s * transformCur[1];
    float rz = s * transformCur[2];
    float tx = s * transformCur[3];
    float ty = s * transformCur[4];
    float tz = s * transformCur[5];
    float x1 = cos(rz) * (pi->x - tx) + sin(rz) * (pi->y - ty);
    float y1 = -sin(rz) * (pi->x - tx) + cos(rz) * (pi->y - ty);
    float z1 = (pi->z - tz);

    float x2 = x1;
    float y2 = cos(rx) * y1 + sin(rx) * z1;
    float z2 = -sin(rx) * y1 + cos(rx) * z1;

    po->x = cos(ry) * x2 - sin(ry) * z2;
    po->y = y2;
    po->z = sin(ry) * x2 + cos(ry) * z2;
    po->intensity = pi->intensity;

[TixiaoShan]

The intensity here represents the time stamp of a point in the scan.

[TixiaoShan]

This repo has some explanations for the code.

https://github.com/wykxwyc/LeGO-LOAM_NOTED

[TixiaoShan]

You can also remove the nan point using pcl::removeNaNFromPointCloud()

[hehern]

You can also remove the nan point using pcl::removeNaNFromPointCloud()

thanks