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Crashes when fed empty pointcloud pt. II

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This commit is contained in:
Andreu Huguet
2021-12-13 02:18:20 +08:00
committed by Cris.Wei
parent 2a70778fd6
commit 232eefb6c9
1 changed files with 1 additions and 0 deletions
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src/preprocess.cpp
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@@ -267,6 +267,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
pcl::PointCloud<velodyne_ros::Point> pl_orig; pcl::PointCloud<velodyne_ros::Point> pl_orig;
pcl::fromROSMsg(*msg, pl_orig); pcl::fromROSMsg(*msg, pl_orig);
int plsize = pl_orig.points.size(); int plsize = pl_orig.points.size();
if (plsize == 0) return;
pl_surf.reserve(plsize); pl_surf.reserve(plsize);
/*** These variables only works when no point timestamps given ***/ /*** These variables only works when no point timestamps given ***/