Why do I receive "Input to SVD must not contain NaN or Inf?

Hello!

I have been trying to use the Lidar Toolbox to estimate the transformation between a lidar sensor and a camera using the checkerboard. So far, I've created a copy of the the MATLAB example EstimateLCTransformExample. Everything is executed correctly, the checkerboard is detected in both the images and the PCD files. However, whenever the transformation function (estimateLidarCameraTransform) is executed I get the following error:

Error using svd

Input to SVD must not contain NaN or Inf.

Error in lidar.internal.calibration.computeInitialTransform>computeInitialRotation (line 75)

[U,~,V] = svd(Ml'*Mc);

Error in lidar.internal.calibration.computeInitialTransform (line 41)

initialRotation = computeInitialRotation(lidarEdgeDirection, imageEdgeDirection, ...

Error in estimateLidarCameraTransform>computeTransformUsingCorners (line 240)

lidar.internal.calibration.computeInitialTransform(lidar3DCorners, imageCorners3d, verbose);

Error in estimateLidarCameraTransform (line 171)

tform = computeTransformUsingCorners(lidarCheckerboardPlanes, ...

Additionally, I attach the script I have been using:

imageDataPath = 'D:\TEC\10mo Semestre\VTTC\Fotos';
imds = imageDatastore(imageDataPath);
imageFileNames = imds.Files;
ptCloudFilePath = 'D:\TEC\10mo Semestre\VTTC\Lidar';
pcds = fileDatastore(ptCloudFilePath,'ReadFcn',@pcread);
pcFileNames = pcds.Files;
focalLength    = [628.8, 387.33]; 
principalPoint = [701.57, 701.57];
imageSize      = [720, 1280];
intrinsics = cameraIntrinsics(focalLength,principalPoint,imageSize)
cameraIntrinsicFile = fullfile(imageDataPath,'calibration.mat');

squareSize = 45;

[imageCorners3d,planeDimension,imagesUsed] = estimateCheckerboardCorners3d( ...
    imageFileNames,intrinsics,squareSize);
pcFileNames = pcFileNames(imagesUsed);
[lidarCheckerboardPlanes,framesUsed] = detectRectangularPlanePoints( ...
pcFileNames,planeDimension,'RemoveGround',true);
framesUsed

imagFileNames = imageFileNames(imagesUsed);
imageFileNames = imageFileNames(framesUsed);
pcFileNames = pcFileNames(framesUsed);
imageCorners3d = imageCorners3d(:,:,framesUsed);

tform= estimateLidarCameraTransform(lidarCheckerboardPlanes, imageCorners3d);    

Answer 1

[Cris LaPierre]

Your input to svd is Ml'*Mc. Based on the error message, it would appear at least one value in the resulting calculation is NaN or Inf.