range image function createFromPointCloud returns segmentation fault when used with copyPointCloud

From: [hidden email]
Sent: Sunday, November 12, 2017 3:49 PM
To: [hidden email]
Subject: [PCL-users] range image function createFromPointCloud returnssegmentation fault when used with copyPointCloud

Hi, I'm trying to convert a point cloud to a range image following this tutorial: http://pointclouds.org/documentation/tutorials/range_image_creation.php

I have a pcl::PointCloud<pcl::PointXYZI> that I transform to pcl::PointCloud<pcl::PointXYZ> by using pcl::copyPointCloud.
This makes the function createFromPointCloud() return a segfault:


//cloud_1 is type pcl::PointCloud<pcl::PointXYZI> and has the data
pcl::PointCloud<pcl::PointXYZ> pointCloud;
pcl::copyPointCloud(*cloud_1, pointCloud);

pointCloud.width = (uint32_t) pointCloud.points.size();
pointCloud.height = 1;
pointCloud.points.resize (pointCloud.width * pointCloud.height);

float angularResolution = (float) (  0.125f * (M_PI/180.0f));  //   1.0 degree in radians
float maxAngleWidth     = (float) (360.0f * (M_PI/180.0f));  // 360.0 degree in radians
float maxAngleHeight    = (float) (180.0f * (M_PI/180.0f));  // 180.0 degree in radians
Eigen::Affine3f sensorPose = (Eigen::Affine3f)Eigen::Translation3f(0.0f, 0.0f, 0.0f);
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
float noiseLevel=0.00;
float minRange = 0.0f;
int borderSize = 1;

pcl::RangeImage rangeImage;
rangeImage.createFromPointCloud(pointCloud, angularResolution, maxAngleWidth, maxAngleHeight,
                                sensorPose, coordinate_frame, noiseLevel, minRange, borderSize);
--------------------------------------------------------------------------------------------------------------

This produces a segFault, however, if I copy it element by element turns out OK. I think it might have something to do with the resize of the pointcloud but I can't put my finger on it.


pcl::PointCloud<pcl::PointXYZ> pointCloud;

for(int i; i<cloud_1->size(); i++)
{
  pcl::PointXYZ point;
  point.x = cloud_1->points[i].x;
  point.y =cloud_1->points[i].y;
  point.z = cloud_1->points[i].z;

  pointCloud.points.push_back(point);
}

pointCloud.width = (uint32_t) pointCloud.points.size();
pointCloud.height = 1;
pointCloud.points.resize (pointCloud.width * pointCloud.height);


float angularResolution = (float) (  0.125f * (M_PI/180.0f));  //   1.0 degree in radians
float maxAngleWidth     = (float) (360.0f * (M_PI/180.0f));  // 360.0 degree in radians
float maxAngleHeight    = (float) (180.0f * (M_PI/180.0f));  // 180.0 degree in radians
Eigen::Affine3f sensorPose = (Eigen::Affine3f)Eigen::Translation3f(0.0f, 0.0f, 0.0f);
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
float noiseLevel=0.00;
float minRange = 0.0f;
int borderSize = 1;

pcl::RangeImage rangeImage;
rangeImage.createFromPointCloud(pointCloud, angularResolution, maxAngleWidth, maxAngleHeight,
                                sensorPose, coordinate_frame, noiseLevel, minRange, borderSize);

std::cout << rangeImage << "\n";


Thanks!

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