Pcl: Wrong index in pcl::cropbox

[PetrichSchmoin]

Operating System and version: Ubuntu 16.04
Compiler: GCC
PCL Version: 1.7

I have some strange behavior in the Cropbox filter. If I use the filter without setting the indices via Cropbox::setIndices(..), it works as expected. Once I set the indices, with only a subset of the whole pointcloud indices, the output is confusing. It seems that a lot of points are missing in the output.

I guess it has something to do with line 101 in the cropbox.hpp file. Shouldn't it be (* indices_) [index] instead of index? I think the selected point should be determined by the id stored in the indices_ vector at this point.

And what about the lines 129 and 137? Is it the same there?

Can anybody confirm this?

[taketwo]

I think you've discovered a bug. A pull request is welcome. If you have some additional time to spare, please extend our existing unit test in test/filters/test_clipper to cover this bug.

[PetrichSchmoin]

Sorry for the late answer. I don't have much time to spend at the moment. Maybe I can try to fix it next month if no one else fixed it until then. ;-)

[Enderdead]

Hello everybody.
I'm working on a fix and new tests about Cropbox.
I have a problem with the PCLBase arguments and method. It provides a indices vector (PCLBase::indices_) which is filled on the PCLBase::initComput method. When I want to use this protected member, Do I have to check is the PCLBase::use_indices_ var is true before using the indices vector?

[taketwo]

Hi, great to hear!

You should always use indices_ vector. It will be either an actual indices vector provided by the user, of a "fake" one generated inside initCompute. Either way, it will always contain valid indices.

To be honest, I don't know what was the intention behind use_indices_. I don't see any algorithms that actually use it.

[Enderdead]

I'm working on new tests to cover the problem. But in order to catch it, I need to check all indices returned. I didn't see any content verification on other tests, just size check. I don't know what is the best way to perform this without the gmock lib(testing::UnorderedElementsAre).

[taketwo]

What about sorting and then comparing one-by-one?