Merge pull request #933 from taketwo/fix-932

Add emptiness check in copyPointCloud()
PointCloudLibrary · Oct 1, 2014 · 21c5f0e · 21c5f0e
2 parents bdce4cb + c949fd8
commit 21c5f0e
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diff --git a/common/include/pcl/common/impl/io.hpp b/common/include/pcl/common/impl/io.hpp
@@ -120,6 +120,9 @@ pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
   cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
   cloud_out.points.resize (cloud_in.points.size ());
 
+  if (cloud_in.points.size () == 0)
+    return;
+
   if (isSamePointType<PointInT, PointOutT> ())
     // Copy the whole memory block
     memcpy (&cloud_out.points[0], &cloud_in.points[0], cloud_in.points.size () * sizeof (PointInT));

diff --git a/test/common/test_io.cpp b/test/common/test_io.cpp
@@ -46,9 +46,11 @@ using namespace std;
 typedef PointCloud <PointXYZRGBA>      CloudXYZRGBA;
 typedef PointCloud <PointXYZRGB>       CloudXYZRGB;
 typedef PointCloud <PointXYZRGBNormal> CloudXYZRGBNormal;
+typedef PointCloud <PointXYZ>          CloudXYZ;
 
 PointXYZRGBA pt_xyz_rgba, pt_xyz_rgba2;
 PointXYZRGB pt_xyz_rgb;
+PointXYZ pt_xyz;
 
 ///////////////////////////////////////////////////////////////////////////////////////////
 TEST (PCL, concatenateFields)
@@ -337,6 +339,23 @@ TEST (PCL, CopyPointCloudWithIndicesAndRGBToRGBA)
   }
 }
 
+TEST (PCL, CopyPointCloudWithSameTypes)
+{
+  CloudXYZ cloud_in (5, 1, pt_xyz);
+  CloudXYZ cloud_in_empty;
+  CloudXYZ cloud_out;
+
+  pcl::copyPointCloud (cloud_in, cloud_out);
+
+  ASSERT_EQ (cloud_in.size (), cloud_out.size ());
+  for (size_t i = 0; i < cloud_out.size (); ++i)
+    EXPECT_XYZ_EQ (cloud_in[i], cloud_out[i]);
+
+  pcl::copyPointCloud (cloud_in_empty, cloud_out);
+
+  ASSERT_EQ (0, cloud_out.size ());
+}
+
 /* ---[ */
 int
 main (int argc, char** argv)
@@ -365,6 +384,10 @@ main (int argc, char** argv)
   pt_xyz_rgb.b = 0;
   pt_xyz_rgb.a = 255;
 
+  pt_xyz.x = 4;
+  pt_xyz.y = 1;
+  pt_xyz.z = 5;
+
   testing::InitGoogleTest (&argc, argv);
   return (RUN_ALL_TESTS ());
 }