Crashes when fed empty pointcloud pt. II

2021-12-13 02:18:20 +08:00 · 2021-12-13 02:18:20 +08:00 · 232eefb6c9
parent 2a70778fd6
commit 232eefb6c9
1 changed files with 1 additions and 0 deletions
--- a/src/preprocess.cpp
+++ b/src/preprocess.cpp
@ -267,6 +267,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
    pcl::PointCloud<velodyne_ros::Point> pl_orig;
    pcl::fromROSMsg(*msg, pl_orig);
    int plsize = pl_orig.points.size();
+    if (plsize == 0) return;
    pl_surf.reserve(plsize);

    /*** These variables only works when no point timestamps given ***/