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norlab-ulaval / libpointmatcher

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics
BSD 3-Clause "New" or "Revised" License
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PointMatcherSupport::TransformationError #233

Closed rnunziata closed 6 years ago

rnunziata commented 6 years ago

error generated from: ethzasl icp mapping. around line 539 in mapper.cpp. I believe this is a libpointmatcher issue since it has come up in the past. I calls a function in pointmatcher/ICP.cpp that results in this error.

[ INFO] [1513634414.419501857, 1341848151.339013279]: Adding new points to the map
terminate called after throwing an instance of 'PointMatcherSupport::TransformationError'
  what():  RigidTransformation: Error, rotation matrix is not orthogonal.
rnunziata commented 6 years ago

The bug appears to be in ethzasl icp mapping. Issue opened there.