Open tiesus opened 4 years ago
Hi, I try to run this on my own data but i always get the following error at the beginning of the global optimization step:
`NODES / lidar_align (lidar_align/lidar_align_node)
ROS_MASTER_URI=http://localhost:11311
process[lidar_align-1]: started with pid [25485] [ INFO] [1600274269.758818207]: Loading Pointcloud Data... [ INFO] [1600274270.003986128]: Loading Transformation Data... [ INFO] [1600274270.015605716]: Interpolating Transformation Data... [ INFO] [1600274270.023082681]: Performing Global Optimization... lidar_align_node: /build/pcl-OilVEB/pcl-1.8.1+dfsg1/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 point_representation_->isValid (point) && "Invalid (NaN, Inf) point coordinates given to nearestKSearch!"' failed.
point_representation_->isValid (point) && "Invalid (NaN, Inf) point coordinates given to nearestKSearch!"' failed.
The lidar I use is a DJI Livox MID 40.
My bagfile contains the following messages: topics: /gps/pose 852 msgs : geometry_msgs/TransformStamped /livox/lidar 425 msgs : sensor_msgs/PointCloud2
The example bagfile uploaded to google drive works fine on my local machine.
Hi, I try to run this on my own data but i always get the following error at the beginning of the global optimization step:
`NODES / lidar_align (lidar_align/lidar_align_node)
ROS_MASTER_URI=http://localhost:11311
process[lidar_align-1]: started with pid [25485] [ INFO] [1600274269.758818207]: Loading Pointcloud Data... [ INFO] [1600274270.003986128]: Loading Transformation Data...&, std::vector&) const [with PointT = pcl::PointXYZI; Dist = flann::L2_Simple]: Assertion
[ INFO] [1600274270.015605716]: Interpolating Transformation Data...
[ INFO] [1600274270.023082681]: Performing Global Optimization...
lidar_align_node: /build/pcl-OilVEB/pcl-1.8.1+dfsg1/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp:136: int pcl::KdTreeFLANN<PointT, Dist>::nearestKSearch(const PointT&, int, std::vector
point_representation_->isValid (point) && "Invalid (NaN, Inf) point coordinates given to nearestKSearch!"' failed.The lidar I use is a DJI Livox MID 40.
My bagfile contains the following messages: topics: /gps/pose 852 msgs : geometry_msgs/TransformStamped /livox/lidar 425 msgs : sensor_msgs/PointCloud2
The example bagfile uploaded to google drive works fine on my local machine.