message: changed preprocessing in server
diff: @@ -191,15 +191,17 @@ void TsdfServer::insertPointcloud(
  timing::Timer ptcloud_timer("ptcloud_preprocess");
  - // Filter out NaNs. :|
  - std::vector<int> indices;
  - pcl::removeNaNFromPointCloud(pointcloud_pcl, pointcloud_pcl, indices);
  -
  Pointcloud points_C;
  Colors colors;
  points_C.reserve(pointcloud_pcl.size());
  colors.reserve(pointcloud_pcl.size());
  for (size_t i = 0; i < pointcloud_pcl.points.size(); ++i) {
  + if (!std::isfinite(pointcloud_pcl.points[i].x) ||
  + !std::isfinite(pointcloud_pcl.points[i].y) ||
  + !std::isfinite(pointcloud_pcl.points[i].z)) {
  + continue;
  + }
  +
  points_C.push_back(Point(pointcloud_pcl.points[i].x,
  pointcloud_pcl.points[i].y,
  pointcloud_pcl.points[i].z));
  