[Fix] Crashes when fed empty pointcloud #96
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Checks if before doing the backward propagation step there are actually points in the pointcloud
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Checks if before doing the backward propagation step there are actually points in the pointcloud.
When fed a pointcloud with no points, "[laserMapping-2] process has died ..." is thrown and the program comes to an end.
This is relevant for applications with little FOV, feeding filtered pointclouds and for dealing with unreliable LiDARs.