PCL去除无效数据：isValid (point) && “Invalid (NaN, Inf) point coordinates given to nearestKSearch!“‘ failed

错误信息：

icp: /build/pcl-OilVEB/pcl-1.8.1+dfsg1/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp:136: int pcl::KdTreeFLANN<PointT, Dist>::nearestKSearch(const PointT&, int, std::vector<int>&, std::vector<float>&) const [with PointT = pcl::PointXYZ; Dist = flann::L2_Simple<float>]: Assertion `point_representation_->isValid (point) && "Invalid (NaN, Inf) point coordinates given to nearestKSearch!"' failed.

说明当前的点云数据存在无效点，比如Nan或空值点

解决步骤：

1、引入filters库：

#include <pcl/filters/filter.h>

2、 调用 removeNaNFromPointCloud函数：

std::vector<int> mapping;
pcl::removeNaNFromPointCloud(*cloud, *cloud, mapping);