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

[DioBakery]

您好作者，我运行online的时候出现以下问题，请问是什么原因？
Key Frame:24, cloud size:19315
proj normal: 0.970955 -0.238857 0.0139405
[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
num_of_images: 10
[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[Loop Fail] 24 -- -1, plane-plane overlap:0
[Time] build descriptor:0.391289, update database:0.52323, extract 3d keypt from cloud geometry:6.33429, extract 2d keypt from images:2.48562, depth matrix calculation:1.28495, loop candidate search:0.60394, triangle ransac:0, plane-plane verification:0, average total time:4.95081 ms

[DioBakery]

发现是这一行中的v一直大于v_up_bound，导致无法建立正确的depth_vec
我的/camera/image_color_compressed和/camera/poses_inworld应该是没有问题的，在rviz中也能够正常显示，cloud选择使用的是cloud_registered
是否有其他地方我没有注意的？