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hku-mars / FAST-LIVO

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).
GNU General Public License v2.0
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Test on the WSL2, after rosbag play x.bag, error occurs: corrupted size vs. prev_size #126

Closed yuxiaoz closed 2 months ago

yuxiaoz commented 2 months ago

When rosbag starts playing, I met corrupted size vs. prev_size error. I test on the WSL2, a visual machine on Windows 10. issue

yuxiaoz commented 2 months ago

It seems that the crash is caused by LidarMeasures.measures.clear() and meas.measures.clear(), how to solve this problem? if (feats_undistort->empty() || (feats_undistort == nullptr)) { // cout<<" No point!!!"<<endl; if (!fast_lio_is_ready) { first_lidar_time = LidarMeasures.lidar_beg_time; p_imu->first_lidar_time = first_lidar_time; LidarMeasures.measures.clear(); cout<<"FAST-LIO not ready"<<endl; continue; } }

if (meas.is_lidar_end) // If meas.is_lidar_end==true, means it just after scan end, clear all buffer in meas. { meas.measures.clear(); meas.is_lidar_end = false; }

yuxiaoz commented 2 months ago

I also have the same question, but in my case I'm using a Jetson TX2 #64 This problem has been solved, from the solution above, sincerely thanks !!