lego_loam 问题汇总

问题１：

[featureAssociation-7] process has died [pid 25782, exit code -6, cmd /home/ly/catkin_ws/devel/lib/lego_loam/featureAssociation __name:=featureAssociation __log:=/home/ly/.ros/log/764874e0-c3c4-11e9-ba5a-8cec4bcf9294/featureAssociation-7.log].
log file: /home/ly/.ros/log/764874e0-c3c4-11e9-ba5a-8cec4bcf9294/featureAssociation-7*.log

解决办法：
还是因为代码里对激光点云数据的空点无法处理，需要过滤掉，源码中去除nan的功能只对velodyne有效

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问题２：

[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!

有人是说输入的激光点云存在nan点，改了很久发现不是，我的是因为utility.h文件中的激光雷达型号不对，我之前用的镭神３２线，现在用的速腾１６线，没改过来，参数分别为：
镭神３２线：

// LeiShen-32C-10Hz
extern const int N_SCAN = 32;
extern const int Horizon_SCAN = 2000;
extern const float ang_res_x = 360.0 / float(Horizon_SCAN);
extern const float ang_res_y = 26.0 / float(N_SCAN-1);
extern const float ang_bottom = 16.5;
extern const int groundScanInd = 10; 

速腾１６线：

//VLP-16
extern const int N_SCAN = 16;
extern const int Horizon_SCAN = 1800;
extern const float ang_res_x = 0.2;
extern const float ang_res_y = 2.0;
extern const float ang_bottom = 15.0+0.1;
extern const int groundScanInd = 7;