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Asked: 2026-05-31T06:18:52+00:00

I am currently trying to calculate rigid transformation between two point sets so I

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I am currently trying to calculate rigid transformation between two point sets so I tried to use the code given by the tutorial on pointclouds.org:

http://www.pointclouds.org/documentation/tutorials/iterative_closest_point.php#iterative-closest-point

For my case I only changed the part where the data is randomly generated to something that loads the point data I want to analyze. Everything else is exactly like in the tutorial…
(I also tried testing exactly the tutorial code with the random data, in case I had somethign wrong with reading my input data)

Since I work with Qt I integrated the PCL library, Eigen library and FLANN library to my project. It finds all headers and successfully compiles with MSVC 2008…

Unfortunately I always get a runtime error at

icp.setInputTarget(cloud_out);

saying:

Debug Assertion failed! Program:
…MSVC2008_Qt_SDK_Release\release\Project.exe File: c:\Program
Files\Microsoft VIsual Studio 10.0\CV\include\vector Line: 1200

Expression: vector erase iterator outside range

[..] … check documentation … [..]

Does anybody know what that means? The input clouds both have the same size and have filled values.

I would be thankful for any help!

UPDATE 1:

The error message shows some file path for MSVC 2010 (10.0) … So I tried to uninstall Visual Studio 2010 since I don’t really need it. But still, if I compile in Debug mode, it shows me an error message, but with Expression: vector iterators incompatible instead… If I now run it in Release mode, it just crashes at runtime (at the same line), but doesn’t show that error message.

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1 Answer

  1. Editorial Team

    This seems so be a problem with the library you use. Assuming you have done a clean build, checked your PATH variable and everything and that Visual Studio 2010 is removed, this might be a problem with the library itself. Are you you using the right one?

    The current Qt SDK has MSVC2008 in it, so I guess it takes everything from where it needs. But either the compiler in Qt or one of the libraries you use that might want the 2010 version…

    Hope it helps!

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