[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!

[abhishekt711]

Getting this error with hap lidar , on ubuntu 20. I am getting odometry trajectory in rviz but map is not seen.

[NHMMing]

have you solved it? I have the same problem, on HAP, I even can not get odometry trajectory.

[Shidabot]

in Estimator.cpp,line 930:
kdtreeNonFeatureFromLocal->setInputCloud(laserCloudNonFeatureFromLocal);
before this line, add:
if(!laserCloudNonFeatureFromLocal->empty())

you can try it!

[NHMMing]

in Estimator.cpp,line 930: kdtreeNonFeatureFromLocal->setInputCloud(laserCloudNonFeatureFromLocal); before this line, add: if(!laserCloudNonFeatureFromLocal->empty())

you can try it!

thanks, I try it and it works. But I just run on "IMU Mode 0" and "IMU Mode 1". On "IMU Mode 2", it doesn't work. Do you have this problem?

[FPSychotic]

if(!laserCloudNonFeatureFromLocal->empty())

same problem any definitive solution , thanks by this software