From 232eefb6c982319bf56e3d8dd3a668e538719002 Mon Sep 17 00:00:00 2001
From: Andreu Huguet <andreuhuguet@gmail.com>
Date: Mon, 13 Dec 2021 02:18:20 +0800
Subject: [PATCH] Crashes when fed empty pointcloud pt. II

---
 src/preprocess.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/preprocess.cpp b/src/preprocess.cpp
index 3f0cb62..61cb94a 100644
--- 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 ***/