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lecture/homework agent-system 2019
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pcl problem #20

Open fanshi14 opened 5 years ago

fanshi14 commented 5 years ago

When launching (docker with gpu) roslaunch jsk_pcl_ros hsi_color_filter.launch INPUT:=/AizuSpiderAA/ARM_CAMERA/points

The error is [ INFO] [1561806356.285044021]: /HSI_color_filter/cluster_decomposer/target -> /HSI_color_filter/euclidean_clustering/output nodelet: /build/pcl-6_P28C/pcl-1.7.2/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp:172: int pcl::KdTreeFLANN<PointT, Dist>::radiusSearch(const PointT&, double, std::vector<int>&, std::vector<float>&, unsigned int) const [with PointT = pcl::PointXYZ; Dist = flann::L2_Simple<float>]: Assertion npoint_representation_->isValid (point) && "Invalid (NaN, Inf) point coordinates given to radiusSearch!"' failed.

[HSI_color_filter/hsi_filter_manager-1] process has died [pid 2760, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=hsi_filter_manager __log:=/root/.ros/log/2db68a4e-9a4f-11e9-9e43-382c4a60c809/HSI_color_filter-hsi_filter_manager-1.log]. log file: /root/.ros/log/2db68a4e-9a4f-11e9-9e43-382c4a60c809/HSI_color_filter-hsi_filter_manager-1*.log

Could you give me any hint?

I checked topic /AizuSpiderAA/ARM_CAMERA/points, it is published with 30hz in good way.

YoheiKakiuchi commented 5 years ago

I think this is a problem which the points contain NaN or Inf.

Invalid (NaN, Inf) point coordinates given to radiusSearch!

It takes some time to solve it. It may be a problem of choreonoid plugin. You can remove euclidean_clustering node from hsi_color_filter.launch. https://github.com/jsk-ros-pkg/jsk_recognition/blob/master/jsk_pcl_ros/launch/hsi_color_filter.launch

fanshi14 commented 5 years ago

Thank you very much Kakiuchi sensei.

It works well after removing euclidean_clustering node.