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vectr-ucla / direct_lidar_odometry

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.
MIT License
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Crashes after DLO initialization #19

Closed SubMishMar closed 2 years ago

SubMishMar commented 2 years ago

Hello, Thanks for your work. I am trying to run your code on your test data. Although the code built without any errors I find that it's crashing in run time after DLO is initialized. Please check the attached picture for your reference.

Screenshot from 2022-07-17 13-19-30

Can you please help me fix this? I think it will be fun to use your code as the results and video seem promising.

P.S. I am running this on the dataset you have provided.

Information about my system: OS: Ubuntu 20.04 ROS: Noetic PCL: 1.12.1 (Installed from source) gcc: 9.4.0 (So I assume this must take care of the OpenMP requirement, although I also did sudo apt install libomp-dev)

I do not understand where things are going wrong and I wonder if pcl-1.10 that comes with ROS is interfering with pcl-1.12.1 that I have installed from source. I discovered from further investigation that the code crashes at: https://github.com/vectr-ucla/direct_lidar_odometry/blob/715893da46658d1390dd915de374b84247d9246f/src/dlo/odom.cc#L460
if I disable it then it crashes at voxel filter.

SubMishMar commented 2 years ago

Now it works with your dataset. I uninstalled PCL installed from source and it works.