Map decimation error?

[peci1]

I had a local simulation running which was sending data to the /cloud topic. I saw this in the bridge container:

[pcl::VoxelGrid::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.

I assume it is a warning from the map decimator.

I have no more details, though - mostly, I don't have any message from the /cloud topic as I came to an already stopped simulation.

[mjcarroll]

That does look like it would be from the map decimation. I believe that the leaf size is currently set to 0.1 meters:

subt/subt_ros/src/cloud_downsample.cpp

Line 99 in ce5905f

leaf_size_ = 0.1f;

So it would take a large cloud in physical dimensions (not number of points) to trigger this warning. I think that would mean that you have a point outside INT_MAX * 0.1 or INT_MIN * 0.1. Is there any chance there you had some erroneous data in there?

[peci1]

I don't say it's impossible, but the map is generally good and I've never noticed this wrong data. However, if it's a point faaaar away, it's a question whether it would ever been seen in rviz...

[mjcarroll]

However, if it's a point faaaar away, it's a question whether it would ever been seen in rviz...

Maybe we could just do a pre-filter for the INT_MAX * 0.1 and INT_MIN * 0.1 to guarantee that there aren't any points at millions of meters away.

[peci1]

sounds good

[peci1]

It happened again. Here are properties of the published cloud.

Num points: 642918
X range: -53 .. 381
Y range: -202 .. 27
Z range: -27 .. 29

[peci1]

The cloud also has 19 channels (x,y,z included; point step 124). Total data length is 79721832 bytes.