From b10dc10a903f8e82f5bfaed294692be822754a2d Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com>
Date: Fri, 25 Feb 2022 16:21:37 +0900
Subject: [PATCH] fix: change empty pointcloud processing (#444)

Signed-off-by: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
---
 .../src/concatenate_data/concatenate_data_nodelet.cpp        | 4 ----
 .../outlier_filter/dual_return_outlier_filter_nodelet.cpp    | 5 -----
 .../src/outlier_filter/ring_outlier_filter_nodelet.cpp       | 4 ----
 3 files changed, 13 deletions(-)

diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp
index 60eacb9b09ba7..8808cf3db0d83 100644
--- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp
+++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp
@@ -354,10 +354,6 @@ void PointCloudConcatenateDataSynchronizerComponent::cloud_callback(
   const sensor_msgs::msg::PointCloud2::SharedPtr & input_ptr, const std::string & topic_name)
 {
   std::lock_guard<std::mutex> lock(mutex_);
-  if (input_ptr->data.empty()) {
-    RCLCPP_WARN(get_logger(), "input pointcloud is empty.");
-    return;
-  }
   sensor_msgs::msg::PointCloud2::SharedPtr xyzi_input_ptr(new sensor_msgs::msg::PointCloud2());
   convertToXYZICloud(input_ptr, xyzi_input_ptr);
 
diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
index d506031d12d22..7858322713063 100644
--- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
+++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
@@ -87,11 +87,6 @@ void DualReturnOutlierFilterComponent::filter(
   PointCloud2 & output)
 {
   boost::mutex::scoped_lock lock(mutex_);
-  if (input->data.empty()) {
-    output.header = input->header;
-    RCLCPP_WARN(get_logger(), "input pointcloud is empty.");
-    return;
-  }
   pcl::PointCloud<return_type_cloud::PointXYZIRADT>::Ptr pcl_input(
     new pcl::PointCloud<return_type_cloud::PointXYZIRADT>);
   pcl::fromROSMsg(*input, *pcl_input);
diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp
index 5667accdfdbf0..7a842665e5f14 100644
--- a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp
+++ b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp
@@ -39,10 +39,6 @@ void RingOutlierFilterComponent::filter(
   PointCloud2 & output)
 {
   boost::mutex::scoped_lock lock(mutex_);
-  output.header = input->header;
-  if (input->row_step < 1) {
-    return;
-  }
   std::unordered_map<uint16_t, std::vector<std::size_t>> input_ring_map;
   input_ring_map.reserve(128);
   sensor_msgs::msg::PointCloud2::SharedPtr input_ptr =