lijinglin-star

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

3

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......