From ecce86431eedd6c895f9f5d4db776fe4eb716305 Mon Sep 17 00:00:00 2001
From: Kunal Tyagi <tyagi.kunal@live.com>
Date: Sat, 12 Sep 2020 15:38:10 +0900
Subject: [PATCH 1/2] Correct typo

---
 common/include/pcl/common/impl/eigen.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/common/include/pcl/common/impl/eigen.hpp b/common/include/pcl/common/impl/eigen.hpp
index 9388ce1fc43..9f49788a3e5 100644
--- a/common/include/pcl/common/impl/eigen.hpp
+++ b/common/include/pcl/common/impl/eigen.hpp
@@ -780,7 +780,7 @@ transformPlane (const pcl::ModelCoefficients::Ptr plane_in,
   Eigen::Matrix < Scalar, 4, 1 > v_plane_in (values.data ());
   pcl::transformPlane (v_plane_in, v_plane_in, transformation);
   plane_out->values.resize (4);
-  std::copy_n(v_plane_in.data (), 4, plane_in->values.begin ());
+  std::copy_n(v_plane_in.data (), 4, plane_out->values.begin ());
 }
 
 

From 2b1136a1eee4412b58255cdd4dfaa10d22bae23f Mon Sep 17 00:00:00 2001
From: Kunal Tyagi <tyagi.kunal@live.com>
Date: Sat, 12 Sep 2020 21:31:51 +0900
Subject: [PATCH 2/2] Further tightening the guarantees

---
 common/include/pcl/common/eigen.h        | 6 +++---
 common/include/pcl/common/impl/eigen.hpp | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/common/include/pcl/common/eigen.h b/common/include/pcl/common/eigen.h
index d80f0ec798a..30514900da3 100644
--- a/common/include/pcl/common/eigen.h
+++ b/common/include/pcl/common/eigen.h
@@ -543,12 +543,12 @@ namespace pcl
   * \warning ModelCoefficients stores floats only !
   */
   template<typename Scalar> void
-  transformPlane (const pcl::ModelCoefficients::Ptr plane_in,
+  transformPlane (const pcl::ModelCoefficients::ConstPtr plane_in,
                         pcl::ModelCoefficients::Ptr plane_out,
                   const Eigen::Transform<Scalar, 3, Eigen::Affine> &transformation);
 
   inline void
-  transformPlane (const pcl::ModelCoefficients::Ptr plane_in,
+  transformPlane (const pcl::ModelCoefficients::ConstPtr plane_in,
                         pcl::ModelCoefficients::Ptr plane_out,
                   const Eigen::Transform<double, 3, Eigen::Affine> &transformation)
   {
@@ -556,7 +556,7 @@ namespace pcl
   }
 
   inline void
-  transformPlane (const pcl::ModelCoefficients::Ptr plane_in,
+  transformPlane (const pcl::ModelCoefficients::ConstPtr plane_in,
                         pcl::ModelCoefficients::Ptr plane_out,
                   const Eigen::Transform<float, 3, Eigen::Affine> &transformation)
   {
diff --git a/common/include/pcl/common/impl/eigen.hpp b/common/include/pcl/common/impl/eigen.hpp
index 9f49788a3e5..fbc9eb8a2b4 100644
--- a/common/include/pcl/common/impl/eigen.hpp
+++ b/common/include/pcl/common/impl/eigen.hpp
@@ -772,7 +772,7 @@ transformPlane (const Eigen::Matrix<Scalar, 4, 1> &plane_in,
 
 
 template <typename Scalar> void
-transformPlane (const pcl::ModelCoefficients::Ptr plane_in,
+transformPlane (const pcl::ModelCoefficients::ConstPtr plane_in,
                       pcl::ModelCoefficients::Ptr plane_out,
                 const Eigen::Transform<Scalar, 3, Eigen::Affine> &transformation)
 {