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RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
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problem encoutered with featureAssociation #202

Closed w634307272 closed 3 years ago

w634307272 commented 3 years ago

featureAssociation: /build/pcl-OilVEB/pcl-1.8.1+dfsg1/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp:136: int pcl::KdTreeFLANN<PointT, Dist>::nearestKSearch(const PointT&, int, std::vector&, std::vector&) const [with PointT = pcl::PointXYZI; Dist = flann::L2_Simple]: Assertion `pointrepresentation->isValid (point) && "Invalid (NaN, Inf) point coordinates given to nearestKSearch!"' failed. [featureAssociation-6] process has died [pid 16716, exit code -6, cmd /home/lee/catkin_ws_2/devel/lib/lego_loam/featureAssociation name:=featureAssociation log:=/home/lee/.ros/log/509bdca2-0bab-11eb-842c-0cdd24902d29/featureAssociation-6.log].

problem encountered when running lego-loam

w634307272 commented 3 years ago

lidar is rs16 ,here are my parameters: extern const int N_SCAN = 16; extern const int Horizon_SCAN = 1800; extern const float ang_res_x = 0.2; extern const float ang_res_y = 2.0; extern const float ang_bottom = 15.0+0.1; extern const int groundScanInd = 7;

w634307272 commented 3 years ago

problem sovled, because rs16 has nan point. you can refer to https://blog.csdn.net/weixin_42958308/article/details/104279831?biz_id=102&utm_term=%E9%80%9F%E8%85%BElegoloam&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-2-104279831&spm=1018.2118.3001.4187