fix: indices max

Signed-off-by: badai-nguyen <[email protected]>
autowarefoundation · May 9, 2024 · 8b5419e · 8b5419e
1 parent 5cf469e
commit 8b5419e
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
@@ -280,6 +280,10 @@ void RayGroundFilterComponent::ExtractPointsIndices(
   size_t no_ground_count = 0;
   std::vector<bool> is_ground_idx(in_cloud_ptr->width, false);
   for (const auto & idx : in_indices.indices) {
+    if(std::size_t(idx) >= is_ground_idx.size())
+    { 
+      continue;
+    }
     is_ground_idx[idx] = true;
   }
   for (size_t i = 0; i < is_ground_idx.size(); ++i) {