作者:冬季梅花1991_156 | 来源:互联网 | 2023-08-18 15:36
The point cloud will be filtered by MaxRangeFilter before doing scan matching. For some special cases, the filtered point cloud maybe empty, it will cause crash:
real_time_correlative_scan_matcher.cc:159 Check failed: candidate.score > 0.f (nan vs. 0)
This PR fixed this bug, check the point cloud size before scan matching, return false for empty point cloud.
该提问来源于开源项目:cartographer-project/cartographer
Merge requested by authorized user gaschler. Merge queue now has a length of 1.