Remove reserve from hot path

PointCloudLibrary · Sep 24, 2019 · 4b153ca · 4b153ca
1 parent 16f9857
commit 4b153ca
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/common/include/pcl/point_cloud.h b/common/include/pcl/point_cloud.h
@@ -272,7 +272,7 @@ namespace pcl
         cloud1.header.stamp = std::max (cloud1.header.stamp, cloud2.header.stamp);
 
         size_t nr_points = cloud1.points.size ();
-        cloud1.points.reserve (nr_points + cloud2.points.size ());
+        /* cloud1.points.reserve (nr_points + cloud2.points.size ()); */
         cloud1.points.insert (cloud1.points.end (), cloud2.points.begin (), cloud2.points.end ());
 
         cloud1.width    = static_cast<uint32_t>(cloud1.points.size ());

diff --git a/common/src/PCLPointCloud2.cpp b/common/src/PCLPointCloud2.cpp
@@ -144,12 +144,12 @@ pcl::PCLPointCloud2::concatenate (pcl::PCLPointCloud2 &cloud1, const pcl::PCLPoi
   const auto data1_size = cloud1.data.size ();
 
   // conservative allocation
-  cloud1.data.reserve (data1_size + cloud2.data.size ());
   if (memcpy_possible)
   {
     cloud1.data.insert (cloud1.data.end (), cloud2.data.begin (), cloud2.data.end ());
     return (true);
   }
+  cloud1.data.resize(data1_size + cloud2.data.size ());
   for (std::size_t cp = 0; cp < size2; ++cp)
   {
     for (const auto field_data: valid_fields)