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Fix pcd_viewer color handling when invalid fields are present in pcd #2105

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merged 2 commits into from
Nov 30, 2017
Merged

Fix pcd_viewer color handling when invalid fields are present in pcd #2105

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83dab52
visualizer: make warning more comprehensive
hrnr Nov 28, 2017
6fb8dc6
pcd_viewer: fix color handling when there are invalid fields
hrnr Nov 28, 2017
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6 changes: 3 additions & 3 deletions visualization/src/pcl_visualizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2980,10 +2980,10 @@ pcl::visualization::PCLVisualizer::updateColorHandlerIndex (const std::string &i
return (false);
}

int color_handler_size = int (am_it->second.color_handlers.size ());
if (index >= color_handler_size)
size_t color_handler_size = am_it->second.color_handlers.size ();
if (!(size_t (index) < color_handler_size))
{
pcl::console::print_warn (stderr, "[updateColorHandlerIndex] Invalid index <%d> given! Maximum range is: 0-%lu.\n", index, static_cast<unsigned long> (am_it->second.color_handlers.size ()));
pcl::console::print_warn (stderr, "[updateColorHandlerIndex] Invalid index <%d> given! Index must be less than %d.\n", index, int (color_handler_size));
return (false);
}
// Get the handler
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12 changes: 8 additions & 4 deletions visualization/tools/pcd_viewer.cpp
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Expand Up @@ -617,22 +617,26 @@ main (int argc, char** argv)
{
int rgb_idx = 0;
int label_idx = 0;
int invalid_fields_count = 0;
for (size_t f = 0; f < cloud->fields.size (); ++f)
{
if (!isValidFieldName (cloud->fields[f].name))
{
++invalid_fields_count;
continue;
}
if (cloud->fields[f].name == "rgb" || cloud->fields[f].name == "rgba")
{
rgb_idx = f + 1;
rgb_idx = f - invalid_fields_count + 1 /* first is ColorHandlerRandom */;
color_handler.reset (new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PCLPointCloud2> (cloud));
}
else if (cloud->fields[f].name == "label")
{
label_idx = f + 1;
label_idx = f - invalid_fields_count + 1;
color_handler.reset (new pcl::visualization::PointCloudColorHandlerLabelField<pcl::PCLPointCloud2> (cloud, !use_optimal_l_colors));
}
else
{
if (!isValidFieldName (cloud->fields[f].name))
continue;
color_handler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (cloud, cloud->fields[f].name));
}
// Add the cloud to the renderer
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