lego_loam　問題彙總

問題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

解決辦法：
還是因爲代碼裏對激光點雲數據的空點無法處理，需要過濾掉，源碼中去除nan的功能只對velodyne有效

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問題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!

有人是說輸入的激光點雲存在nan點，改了很久發現不是，我的是因爲utility.h文件中的激光雷達型號不對，我之前用的鐳神３２線，現在用的速騰１６線，沒改過來，參數分別爲：
鐳神３２線：

// 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; 

速騰１６線：

//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;