GPU ndt _mapping hangs

asked 2020-03-19 08:09:41 -0500

Mackou gravatar image

updated 2020-03-19 10:31:12 -0500

Hello, I am trying to use autoware ndt mapping with GPU (PCL_ANH_GPU = 2) but the mapping hands when 300 messages have been processed and that's all nothing more. No error message whatsoever.

But when I run any other mode it goes without a problem.

What could it be ? Or do you know any better way to generate a map out of lidar pointclouds ?

Thanks !

Here is the last output of ndt_matching :

Sequence number: 301
Number of scan points: 46841 points.
Number of filtered scan points: 10015 points.
transformed_scan_ptr: 46841 points.
map: 4606467 points.
NDT has converged: 1
Fitness score: 7.97377    
Number of iteration: 11
(x,y,z,roll,pitch,yaw):
(55.92, -125.439, 2.48138, 0.0505632, -0.0142095, -1.20035)
Transformation Matrix:
   0.361999    0.930713  -0.0522507     56.1728
   -0.93207    0.362242 -0.00506969    -126.401
   0.014209   0.0505366    0.998621      4.7228
      0           0           0           1
shift: 0.946663
-----------------------------------------------------------------
(Processed/Input): (300 / 301)
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