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Fix crashes in median() if all spans in a level are short (#1668)

master
jie 2020-06-02 02:29:37 -07:00 committed by GitHub
parent 02594a07c7
commit 47b80c9a3f
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1 changed files with 7 additions and 2 deletions
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cartographer/mapping/detect_floors.cc
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@ -188,8 +188,13 @@ std::vector<Floor> FindFloors(const proto::Trajectory& trajectory,
common::FromUniversal( common::FromUniversal(
trajectory.node(span.end_index - 1).timestamp())}); trajectory.node(span.end_index - 1).timestamp())});
} }
if (!z_values.empty()) {
std::sort(z_values.begin(), z_values.end()); std::sort(z_values.begin(), z_values.end());
floors.back().z = Median(z_values); floors.back().z = Median(z_values);
} else {
LOG(ERROR) << "All spans in level are short";
floors.pop_back();
}
} }
return floors; return floors;
} }