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obstacles_detection: added empty cloud verification

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Mathieu Labbe
2015-03-27 17:20:14 -04:00
parent c75ef5c578
commit f0b7b183c5
1 changed files with 5 additions and 2 deletions
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src/nodelets/obstacles_detection.cpp
+5 -2
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@@ -134,8 +134,11 @@ private:
{
cloud = rtabmap::util3d::passThrough<pcl::PointXYZ>(cloud, "z", std::numeric_limits<int>::min(), maxObstaclesHeight_);
}
rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>(cloud,
ground, obstacles, normalEstimationRadius_, groundNormalAngle_, minClusterSize_);
if(cloud->size())
{
rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>(cloud,
ground, obstacles, normalEstimationRadius_, groundNormalAngle_, minClusterSize_);
}
}
pcl::PointCloud<pcl::PointXYZ>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZ>);