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Odom/AlignWithGround: fixed random crash when input is stereo and voxel filter is complaining about leaf size too small (limited max depth to 10 meters)

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matlabbe
2017-12-06 15:40:41 -05:00
parent 821c1c938e
commit ff135322f6
1 changed files with 1 additions and 1 deletions
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2
corelib/src/Odometry.cpp
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@@ -235,7 +235,7 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
UTimer alignTimer;
pcl::IndicesPtr indices(new std::vector<int>);
pcl::IndicesPtr ground, obstacles;
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::cloudFromSensorData(data, 1, 0, 0, indices.get());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::cloudFromSensorData(data, 1, 10, 0, indices.get());
bool success = false;
if(indices->size())
{