void SequentialFitter::setInputCloud (pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pcl_cloud) { if (pcl_cloud.get () == 0 || pcl_cloud->points.size () == 0) throw std::runtime_error ("[SequentialFitter::setInputCloud] Error: Empty or invalid pcl-point-cloud.\n"); m_cloud = pcl_cloud; m_have_cloud = true; }