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Fixed cropBoxImpl() asserting when voxel filtering large 2D clouds (where min z == max z)

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matlabbe
2025-11-28 14:41:39 -08:00
parent 3268707c00
commit 90d7cc3045
1 changed files with 4 additions and 2 deletions
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6
corelib/src/util3d_filtering.cpp
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@@ -954,7 +954,8 @@ pcl::IndicesPtr cropBoxImpl(
const Transform & transform,
bool negative)
{
UASSERT(min[0] < max[0] && min[1] < max[1] && min[2] < max[2]);
UASSERT_MSG(min[0] < max[0] && min[1] < max[1] && min[2] <= max[2], // z can be equal in 2D case
uFormat("x=%f->%f y=%f->%f z=%f->%f", min[0], max[0], min[1], max[1], min[2], max[2]).c_str());
pcl::IndicesPtr output(new std::vector<int>);
pcl::CropBox<PointT> filter;
@@ -973,7 +974,8 @@ pcl::IndicesPtr cropBoxImpl(
pcl::IndicesPtr cropBox(const pcl::PCLPointCloud2::Ptr & cloud, const pcl::IndicesPtr & indices, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const Transform & transform, bool negative)
{
UASSERT(min[0] < max[0] && min[1] < max[1] && min[2] < max[2]);
UASSERT_MSG(min[0] < max[0] && min[1] < max[1] && min[2] <= max[2], // z can be equal in 2D case
uFormat("x=%f->%f y=%f->%f z=%f->%f", min[0], max[0], min[1], max[1], min[2], max[2]).c_str());
pcl::IndicesPtr output(new std::vector<int>);
pcl::CropBox<pcl::PCLPointCloud2> filter;