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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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[ERROR]Cannot create KDTree on point cloud processed by depth completion #211

Closed KirkZhengYW closed 3 years ago

KirkZhengYW commented 3 years ago

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

/rosdistro: melodic /rosversion: 1.14.9 /use_sim_time: False 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/30027546-248d-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; typename boost::detail::sp_member_access::type = flann::Index]: 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.

stale[bot] commented 3 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.