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MainWindow: Fixed "Invalid (NaN, Inf) point coordinates given to radiusSearch" error when creating occupancy map from projection

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matlabbe
2016-04-12 17:16:13 -04:00
parent b53b861342
commit f511896c43
1 changed files with 2 additions and 2 deletions
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guilib/src/MainWindow.cpp
+2 -2
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@@ -2190,9 +2190,9 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
float groundNormalMaxAngle = M_PI_4; float groundNormalMaxAngle = M_PI_4;
int minClusterSize = 20; int minClusterSize = 20;
cv::Mat ground, obstacles; cv::Mat ground, obstacles;
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr voxelCloud = util3d::voxelize(cloud, indices, cellSize);
util3d::occupancy2DFromCloud3D<pcl::PointXYZRGBNormal>( util3d::occupancy2DFromCloud3D<pcl::PointXYZRGBNormal>(
cloud, voxelCloud,
indices,
ground, ground,
obstacles, obstacles,
cellSize, cellSize,