search

hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
https://sites.google.com/view/lio-mapping
GNU General Public License v3.0
897 stars 320 forks source link

Assertion `point_representation_->isValid (point) && "Invalid (NaN, Inf) point coordinates given to nearestKSearch!"' failed. #87

Open Howtian opened 1 year ago

Howtian commented 1 year ago

I tried to make this project work on the MVSEC dataset. The project builds successfully, but I encountered an error when running it:

process[master]: started with pid [380890] ROS_MASTER_URI=http://localhost:11311 setting /run_id to f1850a8e-0055-11ee-b249-774dad07eac7 process[rosout-1]: started with pid [380919] started core service [/rosout] process[lio_processor-2]: started with pid [380922] process[lio_estimator-3]: started with pid [380926] I0601 16:26:02.825656 380922 processor_node.cc:81] Sensor type: 16 [ INFO] [1685607981.416245315]: IMU excitation not enough! [ INFO] [1685607981.634274932]: IMU excitation not enough! [ INFO] [1685607981.818774868]: IMU excitation not enough! [ INFO] [1685607982.014487588]: IMU excitation not enough! [ INFO] [1685607982.221817065]: IMU excitation not enough! [ INFO] [1685607982.433679933]: IMU excitation not enough! [ INFO] [1685607982.601356215]: IMU excitation not enough! [ INFO] [1685607982.818099749]: IMU excitation not enough! [ INFO] [1685607983.037882917]: IMU excitation not enough! [ INFO] [1685607983.235481990]: IMU excitation not enough! [ INFO] [1685607983.422925701]: IMU excitation not enough! [ INFO] [1685607983.621766514]: IMU excitation not enough! [ INFO] [1685607983.832177132]: IMU excitation not enough! [ INFO] [1685607984.025370253]: IMU excitation not enough! [ INFO] [1685607984.222996446]: IMU excitation not enough! [ WARN] [1685607984.422520512]: >>>>>>> IMU initialized <<<<<<< lio_estimator_node: /build/pcl-gWGA5r/pcl-1.10.0+dfsg/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp:138: 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. [lio_estimator-3] process has died [pid 380926, exit code -6, cmd /home/ubuntu/workspace/LIO-mapping/devel/lib/lio/lio_estimator_node __name:=lio_estimator __log:=/home/ubuntu/.ros/log/f1850a8e-0055-11ee-b249-774dad07eac7/lio_estimator-3.log]. log file: /home/ubuntu/.ros/log/f1850a8e-0055-11ee-b249-774dad07eac7/lio_estimator-3*.log

I would appreciate it if someone can help me to solve this error.

Howtian commented 1 year ago

It worked !!! after setting "cutoff_deskew" to 1. The error seems related to using imu information for initialization. But I still don't understand the root cause of the problem