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Livox-SDK / LIO-Livox

A Robust LiDAR-Inertial Odometry for Livox LiDAR
BSD 3-Clause "New" or "Revised" License
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[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! #61

Open abhishekt711 opened 1 year ago

abhishekt711 commented 1 year ago

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

NHMMing commented 1 year ago

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

Shidabot commented 11 months ago

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

you can try it!

NHMMing commented 11 months ago

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 commented 10 months ago

if(!laserCloudNonFeatureFromLocal->empty())

same problem any definitive solution , thanks by this software