DuongTD/laser_geometry
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Merge pull request #13 from tlind/fix-empty-ranges-segfault

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Fix exception due to neg. duration when laserscan ranges[] is empty
This commit is contained in:
Vincent Rabaud 2015-05-18 06:49:26 +00:00
commit 588ef9468f
1 changed files with 6 additions and 3 deletions
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9
src/laser_geometry.cpp
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@ -211,7 +211,8 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
// Extract transforms for the beginning and end of the laser scan // Extract transforms for the beginning and end of the laser scan
ros::Time start_time = scan_in.header.stamp ; ros::Time start_time = scan_in.header.stamp ;
ros::Time end_time = scan_in.header.stamp + ros::Duration().fromSec( (scan_in.ranges.size()-1) * scan_in.time_increment); ros::Time end_time = scan_in.header.stamp ;
if(!scan_in.ranges.empty()) end_time += ros::Duration().fromSec( (scan_in.ranges.size()-1) * scan_in.time_increment);
tf::StampedTransform start_transform ; tf::StampedTransform start_transform ;
tf::StampedTransform end_transform ; tf::StampedTransform end_transform ;
@ -656,7 +657,8 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
int channel_options) int channel_options)
{ {
ros::Time start_time = scan_in.header.stamp; ros::Time start_time = scan_in.header.stamp;
ros::Time end_time = scan_in.header.stamp + ros::Duration ().fromSec ( (scan_in.ranges.size()-1) * scan_in.time_increment); ros::Time end_time = scan_in.header.stamp;
if(!scan_in.ranges.empty()) end_time += ros::Duration ().fromSec ( (scan_in.ranges.size()-1) * scan_in.time_increment);
tf::StampedTransform start_transform, end_transform ; tf::StampedTransform start_transform, end_transform ;
@ -690,7 +692,8 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
int channel_options) int channel_options)
{ {
ros::Time start_time = scan_in.header.stamp; ros::Time start_time = scan_in.header.stamp;
ros::Time end_time = scan_in.header.stamp + ros::Duration ().fromSec ( (scan_in.ranges.size()-1) * scan_in.time_increment); ros::Time end_time = scan_in.header.stamp;
if(!scan_in.ranges.empty()) end_time += ros::Duration ().fromSec ( (scan_in.ranges.size()-1) * scan_in.time_increment);
geometry_msgs::TransformStamped start_transform = tf.lookupTransform (target_frame, scan_in.header.frame_id, start_time); geometry_msgs::TransformStamped start_transform = tf.lookupTransform (target_frame, scan_in.header.frame_id, start_time);
geometry_msgs::TransformStamped end_transform = tf.lookupTransform (target_frame, scan_in.header.frame_id, end_time); geometry_msgs::TransformStamped end_transform = tf.lookupTransform (target_frame, scan_in.header.frame_id, end_time);