fix(autoware_pointcloud_preprocessor): empty input validation (autowa…

…refoundation#10115) * fix(autoware_pointcloud_preprocessor): fix 0 division Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * style(pre-commit): autofix * fix float and error throttle Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * style(pre-commit): autofix * fix Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix param validation Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix unused var Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * feat add input validatoin Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix too cautious floating Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix error msg Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix plural Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix: set exclusiveMinimum 0.0 Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix: reomve unnecessary validatoin Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> --------- Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Feb 17, 2025 · 18a0d0e · 18a0d0e
1 parent 0640e12
commit 18a0d0e
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/...pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json b/...pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json
@@ -10,19 +10,19 @@
           "type": "number",
           "description": "voxel size along the x-axis [m]",
           "default": "1.0",
-          "minimum": 0
+          "exclusiveMinimum": 0.0
         },
         "voxel_size_y": {
           "type": "number",
           "description": "voxel size along the y-axis [m]",
           "default": "1.0",
-          "minimum": 0
+          "exclusiveMinimum": 0.0
         },
         "voxel_size_z": {
           "type": "number",
           "description": "voxel size along the z-axis [m]",
           "default": "1.0",
-          "minimum": 0
+          "exclusiveMinimum": 0.0
         }
       },
       "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"],

diff --git a/...oud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp b/...oud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp
@@ -90,6 +90,7 @@ void PickupBasedVoxelGridDownsampleFilterComponent::filter(
   // std::unordered_map<VoxelKey, size_t, VoxelKeyHash, VoxelKeyEqual> voxel_map;
   robin_hood::unordered_map<VoxelKey, size_t, VoxelKeyHash, VoxelKeyEqual> voxel_map;
 
+  if (input->data.empty()) return;
   voxel_map.reserve(input->data.size() / input->point_step);
 
   constexpr float large_num_offset = 100000.0;