ros下运行ros_rgbd提示[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!

[lijinglin-star]

我使用仿真环境构建了一个机器人，将深度摄像头的数据通过/camera/rgb/image_raw和/camera/depth/image_raw两个话题发布出来，在ros_rgbd.cc里面修改订阅话题，然后编译运行，能够成功运行但是没有点云数据，终端提示如下

Depth Threshold (Close/Far Points): 3.02492 New map created with 1006 points Track lost soon after initialisation, reseting... System Reseting Reseting Local Mapper... done Reseting Loop Closing... done Reseting Database... done New map created with 1005 points Track lost soon after initialisation, reseting... System Reseting Reseting Local Mapper... done Reseting Loop Closing... done Reseting Database... done New map created with 996 points Track lost soon after initialisation, reseting... System Reseting Reseting Local Mapper... done Reseting Loop Closing... done Reseting Database... done New map created with 995 points receive a keyframe, id = 206 第1个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=1 1 receive a keyframe, id = 210 第2个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=2 1 receive a keyframe, id = 281 第3个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=3 1 receive a keyframe, id = 293 第4个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=4 1 receive a keyframe, id = 312 第5个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=5 1 receive a keyframe, id = 346 第6个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=6 1 receive a keyframe, id = 349 第7个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=7 1 System Reseting Reseting Local Mapper... done Reseting Loop Closing... done Reseting Database... done New map created with 960 points receive a keyframe, id = 385 第1个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=8 1 receive a keyframe, id = 397 第2个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=9 1 receive a keyframe, id = 405 第3个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=10 1 receive a keyframe, id = 422 第4个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=11 1 receive a keyframe, id = 433 第5个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=12 1 receive a keyframe, id = 448 第6个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=13 1 receive a keyframe, id = 449 第7个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=14 1 receive a keyframe, id = 465 第8个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=15 1 receive a keyframe, id = 466 第9个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=16 1 receive a keyframe, id = 467 第10个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=17 1 receive a keyframe, id = 469 第11个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=18 1 receive a keyframe, id = 471 第12个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=19 1 receive a keyframe, id = 476 第13个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=20 1 receive a keyframe, id = 478 第14个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global map, size=21 1 ^C

[GGYY7]

有解决吗

[yubo105139]

请问解决了吗？我也遇到了同样的问题

[cxxt1307816587]

请问解决了吗？我也遇到了这个问题