[common/transform] Fail of transformPointCloud for empty pointcloud

[julia-sanchez-kitware]

Describe the bug

When using transformPointCloud OUT-of-place with an empty input cloud, and copy_all_fields to true (default behavior), it causes a segfault.
This seems caused by the assign function here.

Context

I am trying to transform a pointcloud and put the output into a new pointcloud.

Expected behavior

When transforming a pointcloud of 0 point, the output should be a pointcloud with 0 point. The behavior inplace/out-of-place should be similar.

Current Behavior

Segfault

To Reproduce

pcl::PointCloudpcl::PointXYZ pcIn, pcOut;
pcl::transformPointCloud(pcIn, pcOut, Eigen::Isometry3d::Identity().matrix());

My environment

• OS: [Ubuntu 22.04]
• Compiler: [GCC 11.4]
• PCL Version [1.12]

Possible Solution

Check if pointcloud is empty here.

[mvieth]

@julia-sanchez-kitware Hi, thank you for reporting this. The two lines you posted for reproducing did not cause any problem or segfault for me (I tested with GCC 13 and the current master branch). I believe that this problem was fixed by c1835f4 Could you test again with PCL 1.13, please?

[mvieth]

@julia-sanchez-kitware I just tested by undoing the changes from c1835f4 : then I get Floating point exception (core dumped). I assume that is the error you also saw? So I am confident that this error does not occur any more in PCL 1.13.0 and newer. If you still have any doubts, feel free to comment/reopen this issue/open a new issue.