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getCentroidIndexAt in voxel_grid.h deliver wrong leaf_layout_[idx] #3529
Description
Your Environment
- Operating System and version: ubuntu 16.04
- Compiler:gcc 5.4.0
- PCL Version:1.9
Context
Here is original code
inline int
getCentroidIndexAt (const Eigen::Vector3i &ijk) const
{
int idx = ((Eigen::Vector4i() << ijk, 0).finished() - min_b_).dot (divb_mul_);
if (idx < 0 || idx >= static_cast<int> (leaf_layout_.size ())) // this checks also if leaf_layout_.size () == 0 i.e. everything was computed as needed
{
//if (verbose)
// PCL_ERROR ("[pcl::%s::getCentroidIndexAt] Specified coordinate is outside grid bounds, or leaf layout is not saved, make sure to call setSaveLeafLayout(true) and filter(output) first!\n", getClassName ().c_str ());
return (-1);
}
return (leaf_layout_[idx]);
}
If you retrieve points out of voxel grids, and let's see its ijk[0] is large, you will get a index with wrong number rather than -1, due to its use of idx.
Solution
Directly check ijk, add following code to getCentroidIndexAt function:
if (ijk[0]<min_b_[0] || ijk[0]>max_b_[0] || ijk[1]<min_b_[1] ||
ijk[1]> max_b_[1] || ijk[2]<min_b_[2] || ijk[2]>max_b_[2]) return (-1);
Activity
stale commentedon May 19, 2020
Marking this as stale due to 30 days of inactivity. It will be closed in 7 days if no further activity occurs.
nilsgr commentedon Jan 4, 2023
I can confirm this bug. It caused random artifacts using voxel_grid_occlusion_estimation.hpp... The provided solution fixed it for me.
mvieth commentedon Jan 9, 2023
@nilsgr I checked voxel_grid_occlusion_estimation.hpp, and
getCentroidIndexAtis used in three places: one, two, threeBut in all three places, the for/while loops make sure that the values passed to
getCentroidIndexAtare okay with respect to min_b_ and max_b_. Can you say which values min_b_ and max_b_ have in your case?