blam_slam_node run error

[manomitbal]

Hi!

I would like to start by congratulating you on a lovely algorithm. That being said, I am encountering a very peculiar error where the transformation matrices are giving out NaN values whenever I try to launch the blam slam node. The following is the output:

`started roslaunch server http://192.168.1.77:43921/

SUMMARY

PARAMETERS

• /blam/blam_slam/frame_id/base: zed_initial_frame
• /blam/blam_slam/frame_id/fixed: map
• /blam/blam_slam/frame_id/odometry: odom
• /blam/blam_slam/init/orientation/pitch: 0.0
• /blam/blam_slam/init/orientation/roll: 0.0
• /blam/blam_slam/init/orientation/yaw: 0.0
• /blam/blam_slam/init/orientation_sigma/pitch: 0.02
• /blam/blam_slam/init/orientation_sigma/roll: 0.02
• /blam/blam_slam/init/orientation_sigma/yaw: 0.02
• /blam/blam_slam/init/position/x: 0.0
• /blam/blam_slam/init/position/y: 0.0
• /blam/blam_slam/init/position/z: 0.0
• /blam/blam_slam/init/position_sigma/x: 0.1
• /blam/blam_slam/init/position_sigma/y: 0.1
• /blam/blam_slam/init/position_sigma/z: 0.1
• /blam/blam_slam/rate/estimate: 20.0
• /blam/blam_slam/rate/visualization: 0.5
• /rosdistro: kinetic
• /rosversion: 1.12.7
• /use_sim_time: False

NODES /blam/ blam_slam (blam_slam/blam_slam_node)

ROS_MASTER_URI=http://192.168.1.80:11311

core service [/rosout] found process[blam/blam_slam-1]: started with pid [4733] [ INFO] [1498763198.239834200]: /blam/blam_slam/BlamSlam: Registering online callbacks. blam_slam_node: /build/pcl-6_P28C/pcl-1.7.2/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::PointXYZ; Dist = flann::L2_Simple]: Assertion point_representation_->isValid (point) && "Invalid (NaN, Inf) point coordinates given to nearestKSearch!"' failed. [blam/blam_slam-1] process has died [pid 4733, exit code -6, cmd /home/fx250/blam_ws/devel/lib/blam_slam/blam_slam_node ~pcld:=/zed/point_cloud/cloud_registered __name:=blam_slam __log:=/home/fx250/.ros/log/166c611c-5cfb-11e7-8538-001fc69c3cb2/blam-blam_slam-1.log]. log file: /home/fx250/.ros/log/166c611c-5cfb-11e7-8538-001fc69c3cb2/blam-blam_slam-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

Any help is appreciated! Thanks in advance!

[Nickhodem]

Hi, I think you should remove every NaN points in point cloud, before you sent it to blam. pcl::PointCloudpcl::PointXYZ laserCloudIn; pcl::PointCloudpcl::PointXYZ::Ptr laserCloudWithoutNaN (new pcl::PointCloudpcl::PointXYZ ()); std::vector indices; pcl::removeNaNFromPointCloud(laserCloudIn, *laserCloudWithoutNaN, indices);

[tiberium24]

These directions are not correct. Can someone say where we should make this conversion and how? Since it is very common to get Nan values, we should fix this.

[Disonye]

filter里面没有去除nan点，建议加载点云后去除nan点； if (!points->is_dense) { points_filtered->is_dense = false; std::vector indices; pcl::removeNaNFromPointCloud(*points_filtered,*points_filtered, indices); }

[shrr98]

filter里面没有去除nan点，建议加载点云后去除nan点； if (!points->is_dense) { points_filtered->is_dense = false; std::vector indices; pcl::removeNaNFromPointCloud(*points_filtered,*points_filtered, indices); }

does this really fix the problem? I have tried the solution but the issue is still there.