Cannot create a KDTree with an empty input cloud!

[Minsu-Kim1822]

Hi all,

I try to generate a map with LIO-LIVOX using HAP. I ran my custom rosbag files, and it works well with this error. I think memory leak is occurred due to this problem, but I do not have an idea to solve this problem

Any solutions?

[zhSlamer]

Me too

[whyscience]

just change

kdtreeNonFeatureFromLocal->setInputCloud(laserCloudNonFeatureFromLocal);

to

  if(!laserCloudNonFeatureFromLocal->empty())
    kdtreeNonFeatureFromLocal->setInputCloud(laserCloudNonFeatureFromLocal);

[Minsu-Kim1822]

@whyscience Thank you for your reply, but it does not work for me

[whyscience]

you can add log to all the setInputCloud used, then use if(!cloud->empty()) to avoid the ERROR

[Minsu-Kim1822]

@whyscience , Thanks it works! :)

Btw, due to the memory increases exponentially, it suddenly shut downed itself. Do you have any idea or experienced such things?

[whyscience]

Not yet

[runjtu]

Use_seg: 1 # use segment algorithm try this

[HowoongJun]

This error is because there is no assigned value to 'laserCloudCornerLast' variable in <Estimator.cpp> . There is no corner related code in this repository, so you can just use FeatureExtract_with_segment function instead of FeatureExtract_with_segment_hap function.

[dbaldzhiev]

using mid360 I get: [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [PoseEstimation-3] process has died [pid 104728, exit code -11, cmd /home/dimitar/ws_lio-livox/devel/lib/lio_livox/PoseEstimation __name:=PoseEstimation __log:=/home/dimitar/.ros/log/1054c492-dfa7-11ed-8fe5-29e2e6177416/PoseEstimation-3.log]. log file: /home/dimitar/.ros/log/1054c492-dfa7-11ed-8fe5-29e2e6177416/PoseEstimation-3*.log

roslaunch-tec-djin-104672.log

compilelog.log

[Cxz-dev]

I have the same problem in mid360. Have you tried in outdoor scene？

[dbaldzhiev]

I have the same problem in mid360. Have you tried in outdoor scene？

No I haven't. Indoor only.

[wzt991101]

Hello, I have the same problem about HAP, have you solved it now?

[wzt991101]

Hello, I have the same problem about HAP, have you solved it now?

[WH30]

This error is because there is no assigned value to 'laserCloudCornerLast' variable in <Estimator.cpp> . There is no corner related code in this repository, so you can just use FeatureExtract_with_segment function instead of FeatureExtract_with_segment_hap function.

thx, it works!

[brandon-lawrence96]

laserCloudCornerLast

Hi. What do you mean by this? If there is no assigned value to 'laserCloudCornerLast' Variable, then how does that link with the FeatureExtract_with_segment function. Could you explain more of how to resolve the issue? Thank you :)

[abhishekt711]

This error is because there is no assigned value to 'laserCloudCornerLast' variable in <Estimator.cpp> . There is no corner related code in this repository, so you can just use FeatureExtract_with_segment function instead of FeatureExtract_with_segment_hap function.

I am getting the same error can u please explain what changes to be done in code?

[abhishekt711]

I have used the same function as u said but after some frame process has died

This error is because there is no assigned value to 'laserCloudCornerLast' variable in <Estimator.cpp> . There is no corner related code in this repository, so you can just use FeatureExtract_with_segment function instead of FeatureExtract_with_segment_hap function.

[NHMMing]

I have used the same function as u said but after some frame process has died

This error is because there is no assigned value to 'laserCloudCornerLast' variable in <Estimator.cpp> . There is no corner related code in this repository, so you can just use FeatureExtract_with_segment function instead of FeatureExtract_with_segment_hap function.

me too. I try this way, but I met the same problem. Have u solved it?