Add checks in point cloud handler for correct types

See #6186
PointCloudLibrary · Dec 9, 2024 · 77a03dc · 77a03dc
1 parent 59fda2d
commit 77a03dc
Show file tree

Hide file tree

Showing 2 changed files with 17 additions and 3 deletions.
diff --git a/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp b/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp
@@ -368,10 +368,16 @@ PointCloudColorHandlerGenericField<PointT>::setInputCloud (
 {
   PointCloudColorHandler<PointT>::setInputCloud (cloud);
   field_idx_  = pcl::getFieldIndex<PointT> (field_name_, fields_);
-  if (field_idx_ != -1)
-    capable_ = true;
-  else
+  if (field_idx_ == -1) {
     capable_ = false;
+    return;
+  }
+  if (fields_[field_idx_].datatype != pcl::PCLPointField::PointFieldTypes::FLOAT32) {
+    capable_ = false;
+    PCL_ERROR("[pcl::PointCloudColorHandlerGenericField::setInputCloud] This currently only works with float32 fields, but field %s has a different type.\n", field_name_.c_str());
+    return;
+  }
+  capable_ = true;
 }
 
 

diff --git a/visualization/src/point_cloud_handlers.cpp b/visualization/src/point_cloud_handlers.cpp
@@ -420,6 +420,10 @@ pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2>::Poi
 {
   field_idx_  = pcl::getFieldIndex (*cloud, field_name);
   capable_ = field_idx_ != -1;
+  if (field_idx_ != -1 && cloud_->fields[field_idx_].datatype != pcl::PCLPointField::PointFieldTypes::FLOAT32) {
+    capable_ = false;
+    PCL_ERROR("[pcl::PointCloudColorHandlerGenericField] This currently only works with float32 fields, but field %s has a different type.\n", field_name.c_str());
+  }
 }
 
 ///////////////////////////////////////////////////////////////////////////////////////////
@@ -575,6 +579,10 @@ pcl::visualization::PointCloudColorHandlerLabelField<pcl::PCLPointCloud2>::Point
   field_idx_ = pcl::getFieldIndex (*cloud, "label");
   capable_ = field_idx_ != -1;
   static_mapping_ = static_mapping;
+  if (field_idx_ != -1 && cloud_->fields[field_idx_].datatype != pcl::PCLPointField::PointFieldTypes::UINT32) {
+    capable_ = false;
+    PCL_ERROR("[pcl::PointCloudColorHandlerLabelField] This currently only works with uint32 fields, but label field has a different type.\n");
+  }
 }
 
 ///////////////////////////////////////////////////////////////////////////////////////////