terminate called after throwing an instance of 'pcl::IOException' what(): : [pcl::PCDWriter::writeBinary] Input point cloud has no data!

[kim-hyunse]

this exception keep occurs when make a map (ctrl c). how can i fix this error?
An exception has occurred and the final map is not saved.

[kim-hyunse]

i solved this issue. i changed code mapOptmization.cpp. in line 755, 756, 757, 783(map saving part), change like this pcl::io::savePCDFileASCII("/tmp/finalCloud.pcd", *globalMapCloud);.
If you change the path of the pcd validly, the exception will be resolved

[DeepDuke]

It seems globalMapCloud may be empty. I save other pcds successfully after commenting this line like :

// pcl::io::savePCDFileASCII("/tmp/finalCloud.pcd", *globalMapCloud);.