Merge pull request #2131 from SergioRAgostinho/issue-2107

taketwo · web-flow · commit abf77fffd5b0 · 2017-12-09T21:35:56.000+01:00
Prevent POINTS field parsing before point_step is specified
diff --git a/io/src/pcd_io.cpp b/io/src/pcd_io.cpp
@@ -317,6 +317,8 @@ pcl::PCDReader::readHeader (std::istream &fs, pcl::PCLPointCloud2 &cloud,
       // Get the number of points
       if (line_type.substr (0, 6) == "POINTS")
       {
+        if (!cloud.point_step)
+          throw "Number of POINTS specified before COUNT in header!";
         sstream >> nr_points;
         // Need to allocate: N * point_step
         cloud.data.resize (nr_points * cloud.point_step);

Original file line number	Diff line number	Diff line change
`@@ -317,6 +317,8 @@ pcl::PCDReader::readHeader (std::istream &fs, pcl::PCLPointCloud2 &cloud,`
`317`	`317`	`// Get the number of points`
`318`	`318`	`if (line_type.substr (0, 6) == "POINTS")`
`319`	`319`	`{`
	`320`	`+ if (!cloud.point_step)`
	`321`	`+ throw "Number of POINTS specified before COUNT in header!";`
`320`	`322`	`sstream >> nr_points;`
`321`	`323`	`// Need to allocate: N * point_step`
`322`	`324`	`cloud.data.resize (nr_points * cloud.point_step);`