i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

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)

Browse Source
This commit is contained in:
matlabbe
2017-12-06 15:40:41 -05:00
parent 821c1c938e
commit ff135322f6
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/src/Odometry.cpp
View File

@@ -235,7 +235,7 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
UTimer alignTimer; UTimer alignTimer;
pcl::IndicesPtr indices(new std::vector<int>); pcl::IndicesPtr indices(new std::vector<int>);
pcl::IndicesPtr ground, obstacles; 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; bool success = false;
if(indices->size()) if(indices->size())
{ {