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ethz-asl / lidar_align

A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor
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performing global optimization failed #26

Open zhu-bingo opened 4 years ago

zhu-bingo commented 4 years ago

[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! lidar_align_node: /build/pcl-6_P28C/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. [lidar_align-2] process has died [pid 15815, exit code -6, cmd /home/zzy/align_ws/devel/lib/lidar_align/lidar_align_node __name:=lidar_align __log:=/home/zzy/.ros/log/142a24e8-92b8-11ea-99ff-54271e1e6f01/lidar_align-2.log]. log file: /home/zzy/.ros/log/142a24e8-92b8-11ea-99ff-54271e1e6f01/lidar_align-2*.log

how to solve it？ thank you

eminbogen commented 4 years ago

[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! lidar_align_node: /build/pcl-6_P28C/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. [lidar_align-2] process has died [pid 15815, exit code -6, cmd /home/zzy/align_ws/devel/lib/lidar_align/lidar_align_node __name:=lidar_align __log:=/home/zzy/.ros/log/142a24e8-92b8-11ea-99ff-54271e1e6f01/lidar_align-2.log]. log file: /home/zzy/.ros/log/142a24e8-92b8-11ea-99ff-54271e1e6f01/lidar_align-2*.log

how to solve it？ thank you

Did you solve this problem, I also encountered the same problem, I confirmed that removeNaNFromPointCloud has removed the NAN point

LarryDong commented 4 years ago

Hi, please test author's example.bag. If data provided by author is correct, I guess the problem is in your own data. https://github.com/ethz-asl/lidar_align/issues/5#issuecomment-442766071

ydj520 commented 4 years ago

I have tested author's example.bag ,but i also encountered the same problem,how to solve it?