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Looking at source (https://github.com/PointCloudLibrary/pcl/blob/master/people/include/pcl/people/impl/ground_based_people_detection_app.hpp#L383) it seems like cluster indices are output from Euclidian Clustering. The first thing I think would be no cluster output from pcl::EuclideanClusterExtraction.

Can you check value of voxelSize parameter since it will directly affect clustering result? Also you can check minPersonHeight and maxPersonHeight. Due to a reason there may be no cluster after Euclidian Clustering, and it may result in this error.

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