[registration] ndt running error same as #5734

[kitzhongzhengqi]

Hello,as you say , with ndt I got the same error as ndt_omp:

srand((int)time(0));
   pcl::PointCloud<RsPointXYZIRT> cloud;
  // Fill in the cloud data
  cloud.width    = 5;
  cloud.height   = 1;
  cloud.is_dense = false;
  cloud.resize (cloud.width * cloud.height);
  for (auto& point: cloud)
  {
    point.x = 1024 * rand () / (RAND_MAX + 1.0f);
    point.y = 1024 * rand () / (RAND_MAX + 1.0f);
    point.z = 1024 * rand () / (RAND_MAX + 1.0f);
    point.intensity = 0;
    point.ring = 0;
    point.timestamp = 0;
  }
pcl::PointCloud < RsPointXYZIRT>::Ptr cloudPointer(new pcl::PointCloud<RsPointXYZIRT>);
cloudPointer = cloud.makeShared();
ndt_map_->setInputTarget(cloudPointer);

gdb debug infos as below:

localization_adapter: /usr/include/boost/smart_ptr/shared_ptr.hpp:734: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = pcl::NormalDistributionsTransform<apal_sensor_service::RsPointXYZIRT, apal_sensor_service::RsPointXYZIRT>; typename boost::detail::sp_member_access::type = pcl::NormalDistributionsTransform<apal_sensor_service::RsPointXYZIRT, apal_sensor_service::RsPointXYZIRT>*]: Assertion `px != 0' failed.

Thread 23 "localization_ad" received signal SIGABRT, Aborted.
[Switching to Thread 0x7fffa37fe700 (LWP 22909)]
__GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
50 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) bt
#0 __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
#1 0x00007ffff42d3859 in __GI_abort () at abort.c:79
#2 0x00007ffff42d3729 in __assert_fail_base (fmt=0x7ffff4469588 "%s%s%s:%u: %s%sAssertion `%s' failed.\n%n", assertion=0x7ffff6a07624 "px != 0",
file=0x7ffff6a075f8 "/usr/include/boost/smart_ptr/shared_ptr.hpp", line=734, function=) at assert.c:92
#3 0x00007ffff42e4fd6 in __GI___assert_fail (assertion=0x7ffff6a07624 "px != 0", file=0x7ffff6a075f8 "/usr/include/boost/smart_ptr/shared_ptr.hpp", line=734,
function=0x7ffff6a09010 "typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = pcl::NormalDistributionsTransform<apal_sensor_service::RsPointXYZIRT, apal_sensor_service::RsPointX"...) at assert.c:101
#4 0x00007ffff6567fdd in boost::shared_ptr<pcl::NormalDistributionsTransform<apal_sensor_service::RsPointXYZIRT, apal_sensor_service::RsPointXYZIRT> >::operator-> (this=0x7fffe000d100)
at /usr/include/boost/smart_ptr/shared_ptr.hpp:734
#5 0x00007ffff65318a0 in LidarL10n::DynamicLoadMap (this=0x7fffe0009f20) at /home/apal-robo-percp/colcon_ws/src/ros2_loc_node/apal_localization/src/l10n/src/lidar_l10n/lidar_l10n.cpp:1931
#6 0x00007ffff63e9c7b in apal::localization::Localization::loadmap (this=0x7fffe0002d70)
at /home/apal-robo-percp/colcon_ws/src/ros2_loc_node/apal_localization/src/interface/src/localization_impl.cpp:287
#7 0x0000555555ac53b3 in std::__invoke_impl<void, void (apal::localization::LocalizationInterface::)(), std::shared_ptrapal::localization::LocalizationInterface>(std::__invoke_memfun_deref, void (apal::localization::LocalizationInterface::&&)(), std::shared_ptrapal::localization::LocalizationInterface&&) (__f=@0x555556151dd8: &virtual table offset 328, __t=...)
at /usr/include/c++/9/bits/invoke.h:73
#8 0x0000555555aab98d in std::__invoke<void (apal::localization::LocalizationInterface::)(), std::shared_ptrapal::localization::LocalizationInterface > (
__fn=@0x555556151dd8: &virtual table offset 328) at /usr/include/c++/9/bits/invoke.h:95
#9 0x0000555555a8a431 in std::thread::_Invoker<std::tuple<void (apal::localization::LocalizationInterface::)(), std::shared_ptrapal::localization::LocalizationInterface > >::_M_invoke<0ul, 1ul> (
this=0x555556151dc8) at /usr/include/c++/9/thread:244
#10 0x0000555555a09874 in std::thread::_Invoker<std::tuple<void (apal::localization::LocalizationInterface::)(), std::shared_ptrapal::localization::LocalizationInterface > >::operator() (
this=0x555556151dc8) at /usr/include/c++/9/thread:251
#11 0x00005555559ee028 in std::thread::_State_impl<std::thread::_Invoker<std::tuple<void (apal::localization::LocalizationInterface::)(), std::shared_ptrapal::localization::LocalizationInterface > > >::_M_run (this=0x555556151dc0) at /usr/include/c++/9/thread:195
#12 0x00007ffff4706de4 in ?? () from /lib/x86_64-linux-gnu/libstdc++.so.6
#13 0x00007ffff44ab609 in start_thread (arg=) at pthread_create.c:477
#14 0x00007ffff43d0133 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95

@mvieth

[mvieth]

Seems like ndt_map_ is a shared pointer that is not initialized

[kitzhongzhengqi]

yes,problem solved.thanks