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OccupancyGrid:segmentCloud() reset indices ptr to make sure the returned pointer is valid

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matlabbe
2018-11-15 10:08:04 -05:00
parent 9efd7c14fc
commit 963aea5c0d
1 changed files with 7 additions and 0 deletions
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7
corelib/include/rtabmap/core/impl/OccupancyGrid.hpp
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@@ -44,6 +44,13 @@ typename pcl::PointCloud<PointT>::Ptr OccupancyGrid::segmentCloud(
pcl::IndicesPtr & obstaclesIndices, pcl::IndicesPtr & obstaclesIndices,
pcl::IndicesPtr * flatObstacles) const pcl::IndicesPtr * flatObstacles) const
{ {
groundIndices.reset(new std::vector<int>);
obstaclesIndices.reset(new std::vector<int>);
if(flatObstacles)
{
flatObstacles->reset(new std::vector<int>);
}
typename pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>); typename pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);
pcl::IndicesPtr indices(new std::vector<int>); pcl::IndicesPtr indices(new std::vector<int>);