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Fix bug in OctreePointCloudAdjacency::computeNeighbors() #455

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merged 3 commits into from
Jan 22, 2014
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Fix bug in OctreePointCloudAdjacency::computeNeighbors() #455

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575720c
Fix a bug in `OctreePointCloudAdjacency::computeNeighbors()`
taketwo Jan 19, 2014
6846e42
Updated the fix for compute neighbors octree key bug
jpapon Jan 20, 2014
fbb1195
Added header for PCL_ERROR macro
jpapon Jan 20, 2014
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Fix a bug in OctreePointCloudAdjacency::computeNeighbors() 
The `x`, `y`, and `z` fields of `OctreeKey` are unsigned integers, so
in some cases unsigned integer underflow occurs and the tree is queried
for non-existing leaves with huge keys. Due to the way `findLeaf()` is
implemented, such queries occasionally succeed and return some random
leaves.
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@taketwo
taketwo committed Jan 19, 2014
commit 575720c65043b01c24e0a29685d6a5ecc873fae2
15 changes: 12 additions & 3 deletions octree/include/pcl/octree/impl/octree_pointcloud_adjacency.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -184,13 +184,22 @@ pcl::octree::OctreePointCloudAdjacency<PointT, LeafContainerT, BranchContainerT>

for (int dx = -1; dx <= 1; ++dx)
{
int x = dx + key_arg.x;
if (x < 0 || x > this->max_key_.x)
continue;
neighbor_key.x = static_cast<uint32_t> (x);
for (int dy = -1; dy <= 1; ++dy)
{
int y = dy + key_arg.y;
if (y < 0 || y > this->max_key_.y)
continue;
neighbor_key.y = static_cast<uint32_t> (y);
for (int dz = -1; dz <= 1; ++dz)
{
neighbor_key.x = key_arg.x + dx;
neighbor_key.y = key_arg.y + dy;
neighbor_key.z = key_arg.z + dz;
int z = dz + key_arg.z;
if (z < 0 || z > this->max_key_.z)
continue;
neighbor_key.z = static_cast<uint32_t> (z);
LeafContainerT *neighbor = this->findLeaf (neighbor_key);
if (neighbor)
{
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