cant launch node, assertion error

[Ahmad-Drak]

Hi, I seem to be getting this error when launching the node. Any ideas?

About to setup callback
kf_tracker: /build/pcl-6_P28C/pcl-1.7.2/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp:172: int pcl::KdTreeFLANN<PointT, Dist>::radiusSearch(const PointT&, double, std::vector&, std::vector&, unsigned int) const [with PointT = pcl::PointXYZ; Dist = flann::L2_Simple]: Assertion `point_representation_->isValid (point) && "Invalid (NaN, Inf) point coordinates given to radiusSearch!"' failed.
Aborted (core dumped)

[praveen-palanisamy]

Hi @Ahmad-Drak , what is the source of the point clouds you are using? The point cloud seems to contain NaN/Inf values.

Please make sure that the input point clouds doesn't have any invalid data and then try again and report back the GDB trace if you still run into an issue.

[Ahmad-Drak]

its a bag file that publishes point cloud to a topic and i remap the topic to /filtered_cloud. I checked rostopic echo /filtered_cloud and i dont see any Nan/Inf values (of course the data is huge and i could have easily missed it).
I read around and others seem to have a reason to believe that this error is related to pcl_ros package?

[praveen-palanisamy]

Hmmm. The error is definitely coming from the PCL library (not from the code in this repository).
I still suspect that there is some invalid data in the point clouds (from the bag file). Remapping and publishing to the /filtered_cloud topic should be fine as long as the point cloud is really filtered to remove invalid points. Even one or a few invalid point cloud data can cause this issue.
It's better to filter the point clouds after loading and before publishing on to the filtered_cloud topic.

You can write your routine to remove the NaN (or other invalid data) or try using the PCL library with something like this:

std::shared_ptr<std::vector<int>> indices(new std::vector<int>);
pcl::removeNaNFromPointCloud(*source_cloud, *indices);
pcl::ExtractIndices<pcl::PointXYZ> extract;
extract.setInputCloud(source_cloud);
extract.setIndices(indices);
extract.setNegative(true);
extract.filter(*source_cloud);

[praveen-palanisamy]

@Ahmad-Drak , is the issue resolved on your end?

[praveen-palanisamy]

Closing this since the solution proposed in #29 (comment) seems to fix the issue with NaN values causing the error as reported by others (see referenced issues above).

[Tonyc48]

Hello, I am getting the same error after running the node:
"About to setup callback"

Although, it does not give me an error for invalid NaN points. It just continuously runs until I kill the command. Also, I am running this on Raspbian rather than Ubuntu. I am not sure if it is the PCL libraries but I am having some trouble. Any help would be appreciated.

[Ahmad-Drak]

Sorry @Tonyc48 I haven't worked on this much, had to change directions. Im sure @praveen-palanisamy can be better help

[amineabm]

Hello, I am getting the same error after running the node: "About to setup callback"

Although, it does not give me an error for invalid NaN points. It just continuously runs until I kill the command. Also, I am running this on Raspbian rather than Ubuntu. I am not sure if it is the PCL libraries but I am having some trouble. Any help would be appreciated.

Hello @Tonyc48, Did you found a solution for this issue ?

[harshmay]

Hi there, I was confused about where and how you were using the filtered NaN cloud in the code as I have two ways to get the data. These are either using the ROSBAG to save point cloud in a .bag file or get live data points for the LiDAR in real time so that we can run the tracker in real time.

[graiola]

Same problem here, in my case it is crashing at pcl::EuclideanClusterExtraction