From 89052c430f33c37d4911fc1c586efff13e2aa155 Mon Sep 17 00:00:00 2001
From: rachwalk <kajetan.rachwal@robotec.ai>
Date: Wed, 25 Sep 2024 14:33:15 +0200
Subject: [PATCH] feat: allows for no points to be passed to SAM predictor

---
 ros2_sam/ros2_sam/sam.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ros2_sam/ros2_sam/sam.py b/ros2_sam/ros2_sam/sam.py
index d8eaa7a..802a97c 100644
--- a/ros2_sam/ros2_sam/sam.py
+++ b/ros2_sam/ros2_sam/sam.py
@@ -40,6 +40,9 @@ def __del__(self):
 
     def segment(self, img, points, point_labels, boxes=None, multimask=True):
         self._predictor.set_image(img)
+        if len(points) == 0:
+            points = None
+            point_labels = None
         return self._predictor.predict(
             point_coords=points,
             point_labels=point_labels,