From 5556f9e92279f69b59f72d923263c8cab0f43860 Mon Sep 17 00:00:00 2001 From: joanvallve <jvallve@iri.upc.edu> Date: Fri, 17 Dec 2021 14:39:11 +0100 Subject: [PATCH] catching csm exception in icp --- src/icp.cpp | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/icp.cpp b/src/icp.cpp index 4f45427..e2f9245 100644 --- a/src/icp.cpp +++ b/src/icp.cpp @@ -147,7 +147,16 @@ icpOutput ICP::align(const LaserScan &_current_ls, csm_input.use_ml_weights = _icp_params.use_ml_weights ? 1 : 0; csm_input.use_sigma_weights = _icp_params.use_sigma_weights ? 1 : 0; - sm_icp(&csm_input, &csm_output); + try + { + sm_icp(&csm_input, &csm_output); + } + catch(...) + { + icpOutput result{}; + result.valid = false; + return result; + } icpOutput result{}; result.nvalid = csm_output.nvalid; -- GitLab