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Fix segmentation fault on too few detections #1

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Fix segmentation fault on too few detections #1

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6 changes: 6 additions & 0 deletions lidar_detector/src/lib/keypoint_detection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -395,6 +395,12 @@ pcl::PointCloud<pcl::PointXYZ> keypointDetection(pcl::PointCloud<Lidar::PointWit
pcl::PointCloud<pcl::PointXYZ> pattern = processCircles(circles_cloud, cloud_without_ground_floor, config.circle_detection);
if (config.visualize) { visualize(cloud_calibration_board, pattern, edges_cloud); }

if (pattern.size() < 4) {
std::cerr << "Failed to find all circles, found only " << pattern.size() << std::endl;
pattern.clear();
return pattern;
}

// Refine circle centers using calibration board geometry
if (config.refinement.refine) {
// Refinement using kabsch
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