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DbViewer: fixed voxelize assert when voxel size is set and there are no laser scans in database

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This commit is contained in:
matlabbe
2017-08-04 10:47:25 -04:00
parent 459bbda60c
commit d8a6ed4ba6
2 changed files with 49 additions and 39 deletions
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12
corelib/src/util3d_filtering.cpp
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@@ -142,7 +142,8 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr voxelize(
float voxelSize)
{
UASSERT(voxelSize > 0.0f);
UASSERT((cloud->is_dense && cloud->size()) || (!cloud->is_dense && indices->size()));
UASSERT_MSG((cloud->is_dense && cloud->size()) || (!cloud->is_dense && indices->size()),
uFormat("Cloud size=%d indices=%d is_dense=%s", (int)cloud->size(), (int)indices->size(), cloud->is_dense?"true":"false").c_str());
pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
pcl::VoxelGrid<pcl::PointXYZ> filter;
filter.setLeafSize(voxelSize, voxelSize, voxelSize);
@@ -160,7 +161,8 @@ pcl::PointCloud<pcl::PointNormal>::Ptr voxelize(
float voxelSize)
{
UASSERT(voxelSize > 0.0f);
UASSERT((cloud->is_dense && cloud->size()) || (!cloud->is_dense && indices->size()));
UASSERT_MSG((cloud->is_dense && cloud->size()) || (!cloud->is_dense && indices->size()),
uFormat("Cloud size=%d indices=%d is_dense=%s", (int)cloud->size(), (int)indices->size(), cloud->is_dense?"true":"false").c_str());
pcl::PointCloud<pcl::PointNormal>::Ptr output(new pcl::PointCloud<pcl::PointNormal>);
pcl::VoxelGrid<pcl::PointNormal> filter;
filter.setLeafSize(voxelSize, voxelSize, voxelSize);
@@ -178,7 +180,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr voxelize(
float voxelSize)
{
UASSERT(voxelSize > 0.0f);
UASSERT((cloud->is_dense && cloud->size()) || (!cloud->is_dense && indices->size()));
UASSERT_MSG((cloud->is_dense && cloud->size()) || (!cloud->is_dense && indices->size()),
uFormat("Cloud size=%d indices=%d is_dense=%s", (int)cloud->size(), (int)indices->size(), cloud->is_dense?"true":"false").c_str());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::VoxelGrid<pcl::PointXYZRGB> filter;
filter.setLeafSize(voxelSize, voxelSize, voxelSize);
@@ -196,7 +199,8 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr voxelize(
float voxelSize)
{
UASSERT(voxelSize > 0.0f);
UASSERT((cloud->is_dense && cloud->size()) || (!cloud->is_dense && indices->size()));
UASSERT_MSG((cloud->is_dense && cloud->size()) || (!cloud->is_dense && indices->size()),
uFormat("Cloud size=%d indices=%d is_dense=%s", (int)cloud->size(), (int)indices->size(), cloud->is_dense?"true":"false").c_str());
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::VoxelGrid<pcl::PointXYZRGBNormal> filter;
filter.setLeafSize(voxelSize, voxelSize, voxelSize);