Input point cloud has no data!

[JINAOLONG]

尊敬的wen
我进行自建数据纹理生成出现点云数据加载错误，具体问题如下：
(BundleSDF) a@robot:~/project/BundleSDF$ python run_custom.py --mode run_video --video_dir /data/dataset/output --out_folder /data/dataset/bundlesdf_output --use_segmenter 1 --use_gui 1 --debug_level 2
Warp UserWarning: Python 3.9 or newer is recommended for running Warp, detected sys.version_info(major=3, minor=8, micro=19, releaselevel='final', serial=0)
Warp 1.3.3 initialized:
CUDA Toolkit 12.5, Driver 12.4
Devices:
"cpu" : "x86_64"
"cuda:0" : "NVIDIA RTX A6000" (48 GiB, sm_86, mempool enabled)
"cuda:1" : "NVIDIA RTX A6000" (48 GiB, sm_86, mempool enabled)
CUDA peer access:
Supported fully (all-directional)
Kernel cache:
/home/a/.cache/warp/1.3.3
Warp UserWarning: Python 3.9 or newer is recommended for running Warp, detected sys.version_info(major=3, minor=8, micro=19, releaselevel='final', serial=0)
Warp 1.3.3 initialized:
CUDA Toolkit 12.5, Driver 12.4
Devices:
"cpu" : "x86_64"
"cuda:0" : "NVIDIA RTX A6000" (48 GiB, sm_86, mempool enabled)
"cuda:1" : "NVIDIA RTX A6000" (48 GiB, sm_86, mempool enabled)
CUDA peer access:
Supported fully (all-directional)
Kernel cache:
/home/a/.cache/warp/1.3.3
[2024-09-26 14:45:26.256] [warning] [Bundler.cpp:49] Connected to nerf_port 9999
[2024-09-26 14:45:26.257] [warning] [FeatureManager.cpp:2084] Connected to port 5555
default_cfg {'backbone_type': 'ResNetFPN', 'resolution': (8, 2), 'fine_window_size': 5, 'fine_concat_coarse_feat': True, 'resnetfpn': {'initial_dim': 128, 'block_dims': [128, 196, 256]}, 'coarse': {'d_model': 256, 'd_ffn': 256, 'nhead': 8, 'layer_names': ['self', 'cross', 'self', 'cross', 'self', 'cross', 'self', 'cross'], 'attention': 'linear', 'temp_bug_fix': False}, 'match_coarse': {'thr': 0.2, 'border_rm': 2, 'match_type': 'dual_softmax', 'dsmax_temperature': 0.1, 'skh_iters': 3, 'skh_init_bin_score': 1.0, 'skh_prefilter': True, 'train_coarse_percent': 0.4, 'train_pad_num_gt_min': 200}, 'fine': {'d_model': 128, 'd_ffn': 128, 'nhead': 8, 'layer_names': ['self', 'cross'], 'attention': 'linear'}}
Warp UserWarning: Python 3.9 or newer is recommended for running Warp, detected sys.version_info(major=3, minor=8, micro=19, releaselevel='final', serial=0)
Warp UserWarning: Python 3.9 or newer is recommended for running Warp, detected sys.version_info(major=3, minor=8, micro=19, releaselevel='final', serial=0)
Warp 1.3.3 initialized:
CUDA Toolkit 12.5, Driver 12.4
Devices:
"cpu" : "x86_64"
"cuda:0" : "NVIDIA RTX A6000" (48 GiB, sm_86, mempool enabled)
"cuda:1" : "NVIDIA RTX A6000" (48 GiB, sm_86, mempool enabled)
CUDA peer access:
Supported fully (all-directional)
Kernel cache:
/home/a/.cache/warp/1.3.3
Warp 1.3.3 initialized:
CUDA Toolkit 12.5, Driver 12.4
Devices:
"cpu" : "x86_64"
"cuda:0" : "NVIDIA RTX A6000" (48 GiB, sm_86, mempool enabled)
"cuda:1" : "NVIDIA RTX A6000" (48 GiB, sm_86, mempool enabled)
CUDA peer access:
Supported fully (all-directional)
Kernel cache:
/home/a/.cache/warp/1.3.3
GUI started
[bundlesdf.py] percentile denoise start
[bundlesdf.py] percentile denoise done
[bundlesdf.py] processNewFrame start 000000
[bundlesdf.py] process frame 000000
[pcl::PLYWriter::writeASCII] Input point cloud has no data!
[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[pcl::PLYWriter::writeASCII] Input point cloud has no data!
段错误 (核心已转储)

请问这是由什么原因造成的呢？
Best wishes!

[wenbowen123]

if you print the depth range here, how does it look like?