PCL core dumped when opening database

[senia]

Hi,
I don't know how and why, yet when trying to compile the latest version of RtabMap, I get the following error when trying to "download all clouds(update cache)", even with old databases that I'm sure are fine.

[ INFO] (2016-03-27 20:51:37.843) PreferencesDialog.cpp:1811::writeSettings() modified RGBD/ProximityAngle = 45.0->45
rtabmap: /build/buildd/pcl-1.7-1.7.2/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp:172: int pcl::KdTreeFLANN<PointT, Dist>::radiusSearch(const PointT&, double, std::vector<int>&, std::vector<float>&, unsigned int) const [with PointT = pcl::PointXYZRGBNormal; Dist = flann::L2_Simple<float>]: Assertion `point_representation_->isValid (point) && "Invalid (NaN, Inf) point coordinates given to radiusSearch!"' failed.
Aborted (core dumped)

Thanks.

[matlabbe]

This is a PCL error, probably when creating the clouds. Some NaN values are sent to a PCL function. What are your parameters under 3D Rendering panel in Preferences?

If you can set the logger level to Debug (Preferences->Logger->Level), we could see where the PCL method is called.

cheers

[senia]

Found the error,
it happens when the database was processed with "Occupancy from 3D cloud projection on the ground. Laser scans are ignored when activated." (3D Rendering screen) On/Off and when opening the database its set as Off/On (respectively).
Pretty serious unknown crash for something small as that.
Thanks for directing me, hope you could fix it(if its not already on its way)

[matlabbe]

I cannot reproduce the error. Are you using latest code from source? Which PCL version do you have?

For example, if I open the database from this tutorial with Preferences->3d Rendering->"Occupancy from 3D cloud projection on the ground."=On:

[senia]

Hi,
The error was fixed when updating to latest version(for today) of rtabmap. Probably this commit fixed it.
Thank you.