[BUG FIX] Do not access nth[i] if nth is empty.

PointCloudLibrary · Jun 23, 2024 · d166695 · d166695
1 parent c73cca5
commit d166695
Showing 1 changed file with 10 additions and 8 deletions.
diff --git a/registration/src/correspondence_rejection_median_distance.cpp b/registration/src/correspondence_rejection_median_distance.cpp
@@ -55,16 +55,18 @@ pcl::registration::CorrespondenceRejectorMedianDistance::getRemainingCorresponde
       dists[i] = original_correspondences[i].distance;
   }
 
+  unsigned int number_valid_correspondences = 0;
   std::vector<double> nth(dists);
-  nth_element(nth.begin(), nth.begin() + (nth.size() / 2), nth.end());
-  median_distance_ = nth[nth.size() / 2];
+  if (!nth.empty()) {
+    nth_element(nth.begin(), nth.begin() + (nth.size() / 2), nth.end());
+    median_distance_ = nth[nth.size() / 2];
 
-  unsigned int number_valid_correspondences = 0;
-  remaining_correspondences.resize(original_correspondences.size());
+    remaining_correspondences.resize(original_correspondences.size());
 
-  for (std::size_t i = 0; i < original_correspondences.size(); ++i)
-    if (dists[i] <= median_distance_ * factor_)
-      remaining_correspondences[number_valid_correspondences++] =
-          original_correspondences[i];
+    for (std::size_t i = 0; i < original_correspondences.size(); ++i)
+      if (dists[i] <= median_distance_ * factor_)
+        remaining_correspondences[number_valid_correspondences++] =
+            original_correspondences[i];
+  }
   remaining_correspondences.resize(number_valid_correspondences);
 }