GPU ndt _mapping hangs
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)