Fix PCL KDTree empty cloud exception

See Livox-SDK#49 and Livox-SDK#61.
BadgerTechnologies · May 23, 2024 · 116eaf5 · 116eaf5
1 parent 3f83d32
commit 116eaf5
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/lio/Estimator.cpp b/src/lio/Estimator.cpp
@@ -927,7 +927,9 @@ void Estimator::Estimate(std::list<LidarFrame>& lidarFrameList,
   Eigen::Vector3d exPbl = -1.0 * exRbl * exTlb.topRightCorner(3,1);
   kdtreeCornerFromLocal->setInputCloud(laserCloudCornerFromLocal);
   kdtreeSurfFromLocal->setInputCloud(laserCloudSurfFromLocal);
-  kdtreeNonFeatureFromLocal->setInputCloud(laserCloudNonFeatureFromLocal);
+  if(!laserCloudNonFeatureFromLocal->empty()) {
+    kdtreeNonFeatureFromLocal->setInputCloud(laserCloudNonFeatureFromLocal);
+  }
 
   std::unique_lock<std::mutex> locker3(map_manager->mtx_MapManager);
   for(int i = 0; i < 4851; i++){