Fix bug in RegionGrowing and RegionGrowingRGB #6349
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The bug was introduced in PointCloudLibrary@053995b It occurs when indices are given to RegionGrowing(RGB) that are not a complete set of indices. For example, in the [RegionGrowing tutorial](https://pcl.readthedocs.io/projects/tutorials/en/master/region_growing_segmentation.html), if milk_cartoon_all_small_clorox.pcd is used instead of region_growing_tutorial.pcd (the first file contains NaNs but the second one does not). If PCL was compiled in debug mode, an assertion triggers here: https://github.com/PointCloudLibrary/pcl/blob/f5fd21531b6cb19724227490949e66b5ce171075/search/include/pcl/search/impl/search.hpp#L106 Otherwise, the segmentation results are just very bad. Fixes PointCloudLibrary#6348
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Should we add a test with nans removed and indices used? for both with and without color? |
You are right, tests are a good idea. I re-used one of the point clouds that are already passed to the test, and created a partial set of indices. Both new tests fail without the fix in this PR. |
larshg
approved these changes
Sep 24, 2025
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The bug was introduced in 053995b It occurs when indices are given to RegionGrowing(RGB) that are not a complete set of indices. For example, in the RegionGrowing tutorial, if milk_cartoon_all_small_clorox.pcd is used instead of region_growing_tutorial.pcd (the first file contains NaNs but the second one does not). If PCL was compiled in debug mode, an assertion triggers here:
pcl/search/include/pcl/search/impl/search.hpp
Line 106 in f5fd215