Fix division by 0 width in PointCloud structured assign (#5113)

* Check for width in assign().

* Update common/include/pcl/point_cloud.h

Co-authored-by: Markus Vieth <39675748+mvieth@users.noreply.github.com>

Co-authored-by: Markus Vieth <39675748+mvieth@users.noreply.github.com>

common/include/pcl/point_cloud.h

@@ -595,6 +595,12 @@ namespace pcl
       inline void
       assign(InputIterator first, InputIterator last, index_t new_width)
       {
+        if (new_width == 0) {
+          PCL_WARN("Assignment with new_width equal to 0,"
+                   "setting width to size of the cloud and height to 1\n");
+          return assign(std::move(first), std::move(last));
+        }
+
         points.assign(std::move(first), std::move(last));
         width = new_width;
         height = size() / width;
@@ -631,6 +637,11 @@ namespace pcl
       void
       inline assign(std::initializer_list<PointT> ilist, index_t new_width)
       {
+        if (new_width == 0) {
+          PCL_WARN("Assignment with new_width equal to 0,"
+                   "setting width to size of the cloud and height to 1\n");
+          return assign(std::move(ilist));
+        }
         points.assign(std::move(ilist));
         width = new_width;
         height = size() / width;