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[Fix] Crashes when fed empty pointcloud

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Checks if before doing the backward propagation step there are actually points in the pointcloud
This commit is contained in:
Andreu Huguet
2021-11-12 19:57:48 +08:00
committed by Cris.Wei
parent d0a877db69
commit 2a70778fd6
1 changed files with 1 additions and 0 deletions
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src/IMU_Processing.hpp
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@@ -297,6 +297,7 @@ void ImuProcess::UndistortPcl(const MeasureGroup &meas, esekfom::esekf<state_ikf
last_lidar_end_time_ = pcl_end_time; last_lidar_end_time_ = pcl_end_time;
/*** undistort each lidar point (backward propagation) ***/ /*** undistort each lidar point (backward propagation) ***/
if (pcl_out.points.begin() == pcl_out.points.end()) return;
auto it_pcl = pcl_out.points.end() - 1; auto it_pcl = pcl_out.points.end() - 1;
for (auto it_kp = IMUpose.end() - 1; it_kp != IMUpose.begin(); it_kp--) for (auto it_kp = IMUpose.end() - 1; it_kp != IMUpose.begin(); it_kp--)
{ {