Fixed bug incorrectly copying adjacent points in fromPCLPointCloud2() #1813
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jspricke
reviewed
Feb 1, 2017
| if (field_map.size() == 1 && | ||
| field_map[0].serialized_offset == 0 && | ||
| field_map[0].struct_offset == 0 && | ||
| msg.point_step == sizeof(PointT)) | ||
| field_map[0].size == msg.point_step && | ||
| field_map[0].size == sizeof(PointT)) |
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I think it would read easier if we would leave the msg.point_step == sizeof(PointT)). But after all it's the same, right?
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I think the comment makes clear that the source msg, destination type and field must all be the same size. Happy to get a consensus from others though.
BTW the Travis checks seem to have failed because compiling the unit tests exceeded the allowed time. Is that normal?
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I don't see any difference.
Regarding tests: yes, that's normal :(
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Any objections to merging this? |
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fixes #1802.
fromPCLPointCloud2() tried to copy clouds an entire row at a time, provided the source and destination point types were the same size, even if only part of each point was to be copied. This would incorrectly overwrite all fields of the destination points with irrelevant source data.