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Stan994265 / mVIL-Fusion

Monocular Visual-Inertial-LiDAR Simultaneous Localization and Mapping in Challenging Environments
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Hello, I encountered the following error when using the velodyne16. May I ask if the code supports IMU external calibration of the radar (after reading your other paper) #6

Open af-doom opened 1 year ago

af-doom commented 1 year ago

vils_estimator: /build/pcl-0nnAvv/pcl-1.7.2/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. [vils_estimator-4] process has died [pid 9574, exit code -6, cmd /calib_data/mvil_fusion/devel/lib/vils_estimator/vils_estimator __name:=vils_estimator __log:=/root/.ros/log/2c32a34c-ea8c-11ed-b066-7cb56643a639/vils_estimator-4.log]. log file: /root/.ros/log/2c32a34c-ea8c-11ed-b066-7cb56643a639/vils_estimator-4*.log