One Problem of Correspondance Grouping demo code

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One Problem of Correspondance Grouping demo code

melodynk
Dear PCLers:
I have successfully run the correspondance grouping demo code in PCL official site:

http://pointclouds.org/documentation/tutorials/correspondence_grouping.php#correspondence-grouping
 
but when I use my own point cloud file .I get a long list warning infomation below:
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index __

Unfortunately such warning happens to almost every point cloud ,and it finally reseults in the error below:
[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!

I dont quite sure how I could  fix this bug,Hope to obtain some guidance.

I have paste the model and scence pcd file below .Thanks very much!!

model.pcd

scence.pcd

Best regards
melody
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Re: One Problem of Correspondance Grouping demo code

vs-tec
Hi,

you should check the parameters of the involved algorithms. E.g. the
SHOT radius or the SHOT reference frame radius might be too small.

Best

V


On 03.08.2017 08:27, melodynk wrote:

> Dear PCLers:
> I have successfully run the correspondance grouping demo code in PCL
> official site:
>
> http://pointclouds.org/documentation/tutorials/correspondence_grouping.php#correspondence-grouping
>  
> but when I use my own point cloud file .I get a long list warning infomation
> below:
> [pcl::SHOTEstimation::computeFeature] The local reference frame is not
> valid! Aborting description of point with index __
>
> Unfortunately such warning happens to almost every point cloud ,and it
> finally reseults in the error below:
> [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input
> cloud!
>
> I dont quite sure how I could  fix this bug,Hope to obtain some guidance.
>
> I have paste the model and scence pcd file below .Thanks very much!!
>
> model.pcd <http://www.pcl-users.org/file/n4044884/model.pcd>
>
> scence.pcd <http://www.pcl-users.org/file/n4044884/scence.pcd>
>
> Best regards
> melody
>
>
>
>
> --
> View this message in context: http://www.pcl-users.org/One-Problem-of-Correspondance-Grouping-demo-code-tp4044884.html
> Sent from the Point Cloud Library (PCL) Users mailing list mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users

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