Performing global optimization fails

[tiesus]

Hi,
I try to run this on my own data but i always get the following error at the beginning of the global optimization step:

• /rosdistro: melodic
• /rosversion: 1.14.9

`NODES
/
lidar_align (lidar_align/lidar_align_node)

ROS_MASTER_URI=http://localhost:11311

process[lidar_align-1]: started with pid [25485]
[ INFO] [1600274269.758818207]: Loading Pointcloud Data...
[ INFO] [1600274270.003986128]: Loading Transformation Data...
[ INFO] [1600274270.015605716]: Interpolating Transformation Data...
[ INFO] [1600274270.023082681]: Performing Global Optimization...
lidar_align_node: /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&, std::vector&) const [with PointT = pcl::PointXYZI; Dist = flann::L2_Simple]: Assertion point_representation_->isValid (point) && "Invalid (NaN, Inf) point coordinates given to nearestKSearch!"' failed.

The lidar I use is a DJI Livox MID 40.

My bagfile contains the following messages:
topics: /gps/pose 852 msgs : geometry_msgs/TransformStamped
/livox/lidar 425 msgs : sensor_msgs/PointCloud2

The example bagfile uploaded to google drive works fine on my local machine.