From 2a70778fd65a716b038710fedcd9292cf2803716 Mon Sep 17 00:00:00 2001
From: Andreu Huguet <andreuhuguet@gmail.com>
Date: Fri, 12 Nov 2021 19:57:48 +0800
Subject: [PATCH] [Fix] Crashes when fed empty pointcloud

Checks if before doing the backward propagation step there are actually points in the pointcloud
---
 src/IMU_Processing.hpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/IMU_Processing.hpp b/src/IMU_Processing.hpp
index 9e8cd90..32369db 100644
--- a/src/IMU_Processing.hpp
+++ b/src/IMU_Processing.hpp
@@ -297,6 +297,7 @@ void ImuProcess::UndistortPcl(const MeasureGroup &meas, esekfom::esekf<state_ikf
   last_lidar_end_time_ = pcl_end_time;
 
   /*** undistort each lidar point (backward propagation) ***/
+  if (pcl_out.points.begin() == pcl_out.points.end()) return;
   auto it_pcl = pcl_out.points.end() - 1;
   for (auto it_kp = IMUpose.end() - 1; it_kp != IMUpose.begin(); it_kp--)
   {