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Fix zero-division error on empty clouds #47

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Fix zero-division error on empty clouds #47

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8865dcd
Fix zero-division error on empty clouds
Timple Jan 28, 2021
796a799
Don't declare type again
Timple Mar 30, 2021
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10 changes: 9 additions & 1 deletion points_preprocessor/nodes/ray_ground_filter/ray_ground_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -103,7 +103,15 @@ void RayGroundFilter::filterROSMsg(const sensor_msgs::PointCloud2ConstPtr in_ori
const std::vector<void*>& in_selector,
const sensor_msgs::PointCloud2::Ptr out_filtered_msg)
{
size_t point_size = in_origin_cloud->row_step/in_origin_cloud->width; // in Byte
size_t point_size = 0;
if (in_origin_cloud->width == 0)
{
ROS_WARN_THROTTLE(5, "Cloud width of zero, nothing to process");
}
else
{
point_size = in_origin_cloud->row_step/in_origin_cloud->width; // in Byte
}

// TODO(yoan picchi) I fear this may do a lot of cache miss because it is sorted in the radius
// and no longer sorted in the original pointer. One thing to try is that, given
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