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cloudRGBFromSensorData(): just return empty cloud if inputs are not valid (don't assert)

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matlabbe
2017-06-01 13:09:34 -04:00
parent f92025e120
commit c8357be4d0
1 changed files with 2 additions and 5 deletions
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7
corelib/src/util3d.cpp
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@@ -990,12 +990,9 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
decimation = 1;
}
UASSERT(!sensorData.imageRaw().empty());
UASSERT((!sensorData.depthRaw().empty() && sensorData.cameraModels().size()) ||
(!sensorData.rightRaw().empty() && sensorData.stereoCameraModel().isValidForProjection()));
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(!sensorData.depthRaw().empty() && sensorData.cameraModels().size())
if(!sensorData.imageRaw().empty() && !sensorData.depthRaw().empty() && sensorData.cameraModels().size())
{
//depth
UDEBUG("");
@@ -1090,7 +1087,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
}
}
}
else if(!sensorData.rightRaw().empty() && sensorData.stereoCameraModel().isValidForProjection())
else if(!sensorData.imageRaw().empty() && !sensorData.rightRaw().empty() && sensorData.stereoCameraModel().isValidForProjection())
{
//stereo
UDEBUG("");