Modified @KdTreeFLANN@ to throw an error when an empty cloud is passe…

…d in. Please revert if FLANN has since fixed this segfault git-svn-id: svn+ssh://svn.pointclouds.org/pcl/trunk@8667 a9d63959-f2ad-4865-b262-bf0e56cfafb6
aginika · Feb 6, 2013 · 8c22a17 · 8c22a17
1 parent b68054b
commit 8c22a17
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp b/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp
@@ -114,6 +114,11 @@ pcl::KdTreeFLANN<PointT, Dist>::setInputCloud (const PointCloudConstPtr &cloud,
     convertCloudToArray (*input_);
   }
   total_nr_points_ = static_cast<int> (index_mapping_.size ());
+  if (total_nr_points_ == 0)
+  {
+    PCL_ERROR ("[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!\n");
+    return;
+  }
 
   flann_index_.reset (new FLANNIndex (::flann::Matrix<float> (cloud_, 
                                                               index_mapping_.size (),