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Fixed pcl::voxelGrid filtering crash on Windows (latest PCL, eigen allocation issue)

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matlabbe
2021-06-18 16:02:17 -04:00
parent d75cc04ad2
commit b8c22e1c99
1 changed files with 4 additions and 0 deletions
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4
corelib/src/util3d_filtering.cpp
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@@ -582,6 +582,10 @@ typename pcl::PointCloud<PointT>::Ptr voxelizeImpl(
pcl::VoxelGrid<PointT> filter; pcl::VoxelGrid<PointT> filter;
filter.setLeafSize(voxelSize, voxelSize, voxelSize); filter.setLeafSize(voxelSize, voxelSize, voxelSize);
filter.setInputCloud(cloud); 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()) if(!indices->empty())
{ {
filter.setIndices(indices); filter.setIndices(indices);