Strange error: FPFH Estimation

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Strange error: FPFH Estimation

Jue_KA
This post was updated on .
Hello Everyone, I get a strange error: [pcl::FPFHEstimation::initCompute]
Init failed.

What does that mean? I think my code is fine.

I want to estimate features around keypoints. The keypoints are calculated
by SIFT.

  pcl::FPFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33> fpfh;
  pcl::search::KdTree<pcl::PointXYZ>::Ptr tree_fpfh (new pcl::search::KdTree<pcl::PointXYZ>);
  fpfh.setSearchMethod (tree_fpfh);
  fpfh.setSearchSurface(cloud_down); //cloud_down is type pcl::PointXYZ
  fpfh.setInputNormals(cloud_norm); //cloud_norm is type pcl::Normal
  fpfh.setRadiusSearch (0.2);
  fpfh.setInputCloud(keypoints_xyz); //keypoints_xyz is type pcl::PointXYZ
  pcl::PointCloud<pcl::FPFHSignature33>::Ptr pfhFeatures(new pcl::PointCloud<pcl::FPFHSignature33>);
  fpfh.compute (*pfhFeatures);




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