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[jsk_pcl_ros] ExtractIndices debug #2628

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merged 8 commits into from
Sep 24, 2021
Merged

[jsk_pcl_ros] ExtractIndices debug #2628

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d6a956c
extraindieces debug
shmpwk Sep 18, 2021
8c684c9
Update jsk_pcl_ros/src/extract_indices_nodelet.cpp
shmpwk Sep 18, 2021
bf5f123
Update jsk_pcl_ros/src/extract_indices_nodelet.cpp
shmpwk Sep 18, 2021
f95b3ab
Update jsk_pcl_ros/src/extract_indices_nodelet.cpp
shmpwk Sep 18, 2021
346deae
Update jsk_pcl_ros/include/jsk_pcl_ros/extract_indices.h
shmpwk Sep 18, 2021
86b8979
suggest change
shmpwk Sep 18, 2021
8e40282
change from uint8_t to int
shmpwk Sep 19, 2021
4ebf2c2
change int to int32_t
shmpwk Sep 19, 2021
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10 changes: 10 additions & 0 deletions jsk_pcl_ros/src/extract_indices_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,16 @@ namespace jsk_pcl_ros
pcl_conversions::toPCL(*cloud_msg, *input);
pcl::PointIndices::Ptr indices (new pcl::PointIndices ());
pcl_conversions::toPCL(*indices_msg, *indices);

// check if input size is bigger than indices size
uint8_t data_size = static_cast<uint8_t>(input->data.size());
uint32_t point_step_size = static_cast<uint32_t>(input->point_step);
uint8_t cloud_size = data_size / point_step_size;
uint8_t indices_size = static_cast<uint8_t>(indices->indices.size());
if (cloud_size < indices_size){
NODELET_ERROR("Input index is out of expected cloud size: %d > %d", indices_size, cloud_size);
return;
}

// extract pointcloud with indices
pcl::ExtractIndices<pcl::PCLPointCloud2> extract;
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