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Memory: Disabled occupancy grid update if no depth image

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matlabbe
2016-10-14 13:37:21 -04:00
parent 94c25e2017
commit e13454fe3f
1 changed files with 1 additions and 1 deletions
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corelib/src/Memory.cpp
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@@ -3637,7 +3637,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
cv::Mat ground, obstacles; cv::Mat ground, obstacles;
float cellSize = 0.0f; float cellSize = 0.0f;
cv::Point3f viewPoint(0,0,0); cv::Point3f viewPoint(0,0,0);
if(_createOccupancyGrid) if(_createOccupancyGrid && !data.depthOrRightRaw().empty())
{ {
_occupancy->createLocalMap(*s, ground, obstacles, viewPoint); _occupancy->createLocalMap(*s, ground, obstacles, viewPoint);
cellSize = _occupancy->getCellSize(); cellSize = _occupancy->getCellSize();