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[Visualizer] Fix crashes and exceptions in updatePointCloud() #4017

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May 8, 2020
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[Visualizer] Fix crashes and exceptions in updatePointCloud() #4017

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2bde1ec
Fixes #4001 and #3452.
larshg May 2, 2020
8d4cc69
Added unit test where points get removed and updatepointcloud is call…
larshg May 2, 2020
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23 changes: 23 additions & 0 deletions test/visualization/test_visualization.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@

#include <pcl/test/gtest.h>

#include <pcl/common/generate.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/normal_3d.h>
Expand All @@ -60,6 +61,28 @@ PointCloud<PointNormal>::Ptr cloud_with_normals1 (new PointCloud<PointNormal>);
search::KdTree<PointXYZ>::Ptr tree3;
search::KdTree<PointNormal>::Ptr tree4;

// Test that updatepointcloud works when removing points. Ie. modifying vtk data structure to reflect modified pointcloud
// See #4001 and #3452 for previously undetected error.
////////////////////////////////////////////////////////////////////////////////
TEST(PCL, PCLVisualizer_updatePointCloud)
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{
pcl::common::CloudGenerator<pcl::PointXYZRGB, pcl::common::UniformGenerator<float> > generator;

pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
int result = generator.fill(3, 1, *cloud);

// Setup a basic viewport window
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> color_green(cloud, 0, 225, 100);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, color_green, "sample cloud");

// remove points one by one)
while (!cloud->empty()) {
cloud->erase(cloud->end() - 1);
viewer->updatePointCloud(cloud, "sample cloud");
viewer->spinOnce(100);
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, PCLVisualizer_camera)
{
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2 changes: 2 additions & 0 deletions visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
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Expand Up @@ -1587,6 +1587,8 @@ pcl::visualization::PCLVisualizer::updatePointCloud (const typename pcl::PointCl

// Set the cells and the vertices
vertices->SetCells (nr_points, cells);
// Set the cell count explicitly as the array doesn't get modified enough so the above method updates accordingly. See #4001 and #3452
vertices->SetNumberOfCells(nr_points);

// Get the colors from the handler
bool has_colors = false;
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