Hello,
I utilize LeGO-LOAM to register point cloud processed byhttps://github.com/RobustFieldAutonomyLab/lidar_super_resolution, which is a depth completion result(from ouster16 to 64 ). But it failed to create KDtree:
roslaunch lego_loam run.launch
... logging to /home/zheng/.ros/log/30027546-248d-11eb-8e11-f9b55f6d01ac/roslaunch-ubuntu-5687.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
auto-starting new master
process[master]: started with pid [5697]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 30027546-248d-11eb-8e11-f9b55f6d01ac
process[rosout-1]: started with pid [5708]
started core service [/rosout]
process[rviz-2]: started with pid [5711]
process[camera_init_to_map-3]: started with pid [5716]
process[base_link_to_camera-4]: started with pid [5720]
process[imageProjection-5]: started with pid [5734]
[ INFO] [1605147439.190801337]: ----> Image Projection Started.
process[featureAssociation-6]: started with pid [5739]
[ INFO] [1605147439.238756490]: ----> Feature Association Started.
process[mapOptmization-7]: started with pid [5745]
[ INFO] [1605147439.402822541]: ----> Map Optimization Started.
process[transformFusion-8]: started with pid [5751]
[ INFO] [1605147439.464134939]: ----> Transform Fusion Started.
[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
** stack smashing detected : terminated
[rviz-2] process has died [pid 5711, exit code -6, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/zheng/catkin_ws/src/SC-LeGO-LOAM/SC-LeGO-LOAM/LeGO-LOAM/launch/test.rviz name:=rviz log:=/home/zheng/.ros/log/30027546-248d-11eb-8e11-f9b55f6d01ac/rviz-2.log].
log file: /home/zheng/.ros/log/30027*546-248d-11eb-8e11-f9b55f6d01ac/rviz-2.log
featureAssociation: /usr/include/boost/smart_ptr/shared_ptr.hpp:734: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = flann::Index<flann::L2_Simple >; typename boost::detail::sp_member_access::type = flann::Index<flann::L2_Simple >]: Assertion `px != 0' failed.
[featureAssociation-6] process has died [pid 5739, exit code -6, cmd /home/zheng/catkin_ws/devel/lib/lego_loam/featureAssociation name:=featureAssociation log:=/home/zheng/.ros/log/30027546-248d-11eb-8e11-f9b55f6d01ac/featureAssociation-6.log].
log file: /home/zheng/.ros/log/30027546-248d-11eb-8e11-f9b55f6d01ac/featureAssociation-6.
Whether or not the problem lies in that the completed point cloud matches none of the existing optional sensors( OS1-64, OS1-16 .etc) and it requires additional code?
Hello, I utilize LeGO-LOAM to register point cloud processed byhttps://github.com/RobustFieldAutonomyLab/lidar_super_resolution, which is a depth completion result(from ouster16 to 64 ). But it failed to create KDtree: roslaunch lego_loam run.launch ... logging to /home/zheng/.ros/log/30027546-248d-11eb-8e11-f9b55f6d01ac/roslaunch-ubuntu-5687.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu:43101/
SUMMARY
PARAMETERS
NODES / base_link_to_camera (tf/static_transform_publisher) camera_init_to_map (tf/static_transform_publisher) featureAssociation (lego_loam/featureAssociation) imageProjection (lego_loam/imageProjection) mapOptmization (lego_loam/mapOptmization) rviz (rviz/rviz) transformFusion (lego_loam/transformFusion)
auto-starting new master process[master]: started with pid [5697] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 30027546-248d-11eb-8e11-f9b55f6d01ac process[rosout-1]: started with pid [5708] started core service [/rosout] process[rviz-2]: started with pid [5711] process[camera_init_to_map-3]: started with pid [5716] process[base_link_to_camera-4]: started with pid [5720] process[imageProjection-5]: started with pid [5734] [ INFO] [1605147439.190801337]: ----> Image Projection Started. process[featureAssociation-6]: started with pid [5739] [ INFO] [1605147439.238756490]: ----> Feature Association Started. process[mapOptmization-7]: started with pid [5745] [ INFO] [1605147439.402822541]: ----> Map Optimization Started. process[transformFusion-8]: started with pid [5751] [ INFO] [1605147439.464134939]: ----> Transform Fusion Started. [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! ** stack smashing detected : terminated
[rviz-2] process has died [pid 5711, exit code -6, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/zheng/catkin_ws/src/SC-LeGO-LOAM/SC-LeGO-LOAM/LeGO-LOAM/launch/test.rviz name:=rviz log:=/home/zheng/.ros/log/30027546-248d-11eb-8e11-f9b55f6d01ac/rviz-2.log].
log file: /home/zheng/.ros/log/30027*546-248d-11eb-8e11-f9b55f6d01ac/rviz-2.log
featureAssociation: /usr/include/boost/smart_ptr/shared_ptr.hpp:734: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = flann::Index<flann::L2_Simple >; typename boost::detail::sp_member_access::type = flann::Index<flann::L2_Simple >]: Assertion `px != 0' failed.
[featureAssociation-6] process has died [pid 5739, exit code -6, cmd /home/zheng/catkin_ws/devel/lib/lego_loam/featureAssociation name:=featureAssociation log:=/home/zheng/.ros/log/30027546-248d-11eb-8e11-f9b55f6d01ac/featureAssociation-6.log].
log file: /home/zheng/.ros/log/30027546-248d-11eb-8e11-f9b55f6d01ac/featureAssociation-6.
Whether or not the problem lies in that the completed point cloud matches none of the existing optional sensors( OS1-64, OS1-16 .etc) and it requires additional code?
Thank you for your attention.