Opencv_contrib: Kinect Fusion crash when cover sensor

[timhutton]

System information (version)

• OpenCV => 4.1.2
• Operating System / Platform => Windows 10
• Compiler => Visual Studio 2019
• Depth sensor => Azure Kinect

Detailed description

If you cover the sensor (to trigger a reset of the tracking) the rgbd/kinfu sample crashes.

This is unexpected behavior. Covering the sensor to reset the tracking is an established action, as seen in demos of KinectFusion elsewhere.

Steps to reproduce

• start the kinfu sample
• cover the sensor

The sample stops and prints the error:

[ERROR:0] global H:\OpenCV-4.1.2\sources\modules\core\src\ocl.cpp (3039)
cv::ocl::Kernel::set OpenCL: Kernel(fillPtsNrm)::set(arg_index=14, flags=260):
can't create cl_mem handle for passed UMat buffer (addr=0000004D17DAE480)

[savuor]

Reproduced and is going to be fixed soon.
It turned out that getCloud() lacks a check for empty data.