From b8c22e1c9981a10dfe85a9e901b778814bd0e0e7 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Fri, 18 Jun 2021 16:02:17 -0400
Subject: [PATCH] Fixed pcl::voxelGrid filtering crash on Windows (latest PCL,
 eigen allocation issue)

---
 corelib/src/util3d_filtering.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/corelib/src/util3d_filtering.cpp b/corelib/src/util3d_filtering.cpp
index 0f373e9c..d19e31fb 100644
--- a/corelib/src/util3d_filtering.cpp
+++ b/corelib/src/util3d_filtering.cpp
@@ -582,6 +582,10 @@ typename pcl::PointCloud<PointT>::Ptr voxelizeImpl(
 			pcl::VoxelGrid<PointT> filter;
 			filter.setLeafSize(voxelSize, voxelSize, voxelSize);
 			filter.setInputCloud(cloud);
+#ifdef WIN32
+			// Pre-allocating the cloud helps to avoid crash when freeing memory allocated inside pcl library
+			output->resize(cloud->size());
+#endif
 			if(!indices->empty())
 			{
 				filter.setIndices(indices);