EuclidianExtractor: skippe l'extraction si cloud->size() < 10

src/ofxCloudLib/EuclidianExtractor.hpp

@@ -61,14 +61,17 @@ class EuclidianExtractor : public ofThread
 
         while (to_extract_.receive(cloud)) {
 
-//            if (cloud->size() > 10) {
 
 
   //              TS_START("EuclidianExtraction");
 
                 std::vector<pcl::PointIndices> cluster_indices;
                 pcl::PointCloud<pcl::PointXYZRGBA>::Ptr supercloudFilteredRGBA;
+                supercloudFilteredRGBA.reset(new pcl::PointCloud<pcl::PointXYZRGBA>);
+
+                auto fresh_clouds = make_shared<vector<shared_ptr<SmartCloud>>>();
 
+            if (cloud->size() > 10) {
                 pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
                 tree->setInputCloud(cloud);
 
@@ -80,9 +83,6 @@ class EuclidianExtractor : public ofThread
                 ec.setInputCloud(cloud);
                 ec.extract(cluster_indices);
 
-                supercloudFilteredRGBA.reset(new pcl::PointCloud<pcl::PointXYZRGBA>);
-
-                auto fresh_clouds = make_shared<vector<shared_ptr<SmartCloud>>>();
 
                 for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin(); it != cluster_indices.end(); ++it) {
                     // nécessaire de copier, ou simplement passer des indices???
@@ -101,6 +101,7 @@ class EuclidianExtractor : public ofThread
                     }
                     fresh_clouds->back().get()->setup();
                 }
+            }
 
                 vector<shared_ptr<ClusterMesh>>::iterator clusterMesh;
                 vector<shared_ptr<SmartCloud>> candidateClouds = newClouds;