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That's a bug. The assertion is false (but required to be true by later code).

As a quick fix, could you please try to copy line 307 of src/node.cpp (projectTo3D....) below line 310? It should then look like this

if(ps->get<std::string>("feature_detector_type") != "GICP") { projectTo3D(feature_locations_2d_, feature_locations_3d_, pc_col); //takes less than 0.01 sec // projectTo3d need a dense cloud to use the points.at(px.x,px.y)-Call ScopedTimer s("Feature Extraction"); extractor->compute(gray_img, feature_locations_2d_, feature_descriptors_); //fill feature_descriptors_ with information projectTo3D(feature_locations_2d_, feature_locations_3d_, pc_col); //takes less than 0.01 sec

}

That's a bug. The assertion is false (but required to be true by later code).

As a quick fix, could you please try to copy line 307 of src/node.cpp (projectTo3D....) below line 310? It should then look like this

 if(ps->get<std::string>("feature_detector_type") != "GICP")
  {
    projectTo3D(feature_locations_2d_, feature_locations_3d_, pc_col); //takes less than 0.01 sec
    // projectTo3d need a dense cloud to use the points.at(px.x,px.y)-Call
    ScopedTimer s("Feature Extraction");
    extractor->compute(gray_img, feature_locations_2d_, feature_descriptors_); //fill feature_descriptors_ with information 
    projectTo3D(feature_locations_2d_, feature_locations_3d_, pc_col); //takes less than 0.01 sec
sec
   }