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Fix unsafe std::vector::data() nullptr assumption for empty vectors #95

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Fix unsafe std::vector::data() nullptr assumption for empty vectors #95

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2 changes: 1 addition & 1 deletion include/gtsam_points/ann/impl/incremental_voxelmap_impl.hpp
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Expand Up @@ -219,7 +219,7 @@ PointCloudCPU::Ptr IncrementalVoxelMap<VoxelContents>::voxel_data() const {
});

frame->num_points = frame->points_storage.size();
frame->points = frame->points_storage.data();
frame->points = frame->points_storage.empty() ? nullptr : frame->points_storage.data();
frame->normals = frame->normals_storage.empty() ? nullptr : frame->normals_storage.data();
frame->covs = frame->covs_storage.empty() ? nullptr : frame->covs_storage.data();
frame->intensities = frame->intensities_storage.empty() ? nullptr : frame->intensities_storage.data();
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2 changes: 1 addition & 1 deletion include/gtsam_points/types/point_cloud_cpu.hpp
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Expand Up @@ -85,7 +85,7 @@ struct PointCloudCPU : public PointCloud {
void add_aux_attribute(const std::string& attrib_name, const T* values, int num_points) {
auto attributes = std::make_shared<std::vector<T>>(values, values + num_points);
aux_attributes_storage[attrib_name] = attributes;
aux_attributes[attrib_name] = std::make_pair(sizeof(T), attributes->data());
aux_attributes[attrib_name] = std::make_pair(sizeof(T), attributes->empty() ? nullptr : attributes->data());
}
template <typename T, typename Alloc>
void add_aux_attribute(const std::string& attrib_name, const std::vector<T, Alloc>& values) {
Expand Down
4 changes: 2 additions & 2 deletions src/gtsam_points/factors/intensity_gradients.cpp
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Expand Up @@ -141,12 +141,12 @@ IntensityGradients::estimate(const gtsam_points::PointCloudCPU::Ptr& frame, int

if (estimate_normals) {
frame->normals_storage.resize(frame->size());
frame->normals = frame->normals_storage.data();
frame->normals = frame->normals_storage.empty() ? nullptr : frame->normals_storage.data();
}

if (estimate_covs) {
frame->covs_storage.resize(frame->size());
frame->covs = frame->covs_storage.data();
frame->covs = frame->covs_storage.empty() ? nullptr : frame->covs_storage.data();
}

IntensityGradients::Ptr gradients(new IntensityGradients);
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6 changes: 3 additions & 3 deletions src/gtsam_points/types/gaussian_voxelmap_cpu_funcs.cpp
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Expand Up @@ -82,13 +82,13 @@ merge_frames(const std::vector<Eigen::Isometry3d>& poses, const std::vector<Poin
merged->num_points = num_voxels;
merged->points_storage.resize(num_voxels, Eigen::Vector4d::Zero());
merged->covs_storage.resize(num_voxels, Eigen::Matrix4d::Zero());
merged->points = merged->points_storage.data();
merged->covs = merged->covs_storage.data();
merged->points = merged->points_storage.empty() ? nullptr : merged->points_storage.data();
merged->covs = merged->covs_storage.empty() ? nullptr : merged->covs_storage.data();

const bool has_intensities = std::all_of(frames.begin(), frames.end(), [](const auto& frame) { return frame->has_intensities(); });
if (has_intensities) {
merged->intensities_storage.resize(num_voxels, 0.0);
merged->intensities = merged->intensities_storage.data();
merged->intensities = merged->intensities_storage.empty() ? nullptr : merged->intensities_storage.data();
}

for (int i = 0; i < frames.size(); i++) {
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34 changes: 17 additions & 17 deletions src/gtsam_points/types/point_cloud_cpu.cpp
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Expand Up @@ -62,7 +62,7 @@ PointCloudCPU::Ptr PointCloudCPU::clone(const PointCloud& points) {
memcpy(storage->data(), data_ptr, elem_size * points.size());

new_points->aux_attributes_storage[name] = storage;
new_points->aux_attributes[name] = std::make_pair(elem_size, storage->data());
new_points->aux_attributes[name] = std::make_pair(elem_size, storage->empty() ? nullptr : storage->data());
}

return new_points;
Expand All @@ -76,7 +76,7 @@ void PointCloudCPU::add_times(const T* times, int num_points) {
if (times) {
std::copy(times, times + num_points, times_storage.begin());
}
this->times = this->times_storage.data();
this->times = times_storage.empty() ? nullptr : times_storage.data();
}

template void PointCloudCPU::add_times(const float* times, int num_points);
Expand All @@ -91,7 +91,7 @@ void PointCloudCPU::add_points(const Eigen::Matrix<T, D, 1>* points, int num_poi
points_storage[i].head<D>() = points[i].template head<D>().template cast<double>();
}
}
this->points = points_storage.data();
this->points = points_storage.empty() ? nullptr : points_storage.data();
this->num_points = num_points;
}

Expand All @@ -110,7 +110,7 @@ void PointCloudCPU::add_normals(const Eigen::Matrix<T, D, 1>* normals, int num_p
normals_storage[i].head<D>() = normals[i].template head<D>().template cast<double>();
}
}
this->normals = normals_storage.data();
this->normals = normals_storage.empty() ? nullptr : normals_storage.data();
}

template void PointCloudCPU::add_normals(const Eigen::Matrix<float, 3, 1>* normals, int num_points);
Expand All @@ -128,7 +128,7 @@ void PointCloudCPU::add_covs(const Eigen::Matrix<T, D, D>* covs, int num_points)
covs_storage[i].block<D, D>(0, 0) = covs[i].template block<D, D>(0, 0).template cast<double>();
}
}
this->covs = covs_storage.data();
this->covs = covs_storage.empty() ? nullptr : covs_storage.data();
}

template void PointCloudCPU::add_covs(const Eigen::Matrix<float, 3, 3>* covs, int num_points);
Expand All @@ -144,7 +144,7 @@ void PointCloudCPU::add_intensities(const T* intensities, int num_points) {
if (intensities) {
std::copy(intensities, intensities + num_points, intensities_storage.begin());
}
this->intensities = this->intensities_storage.data();
this->intensities = intensities_storage.empty() ? nullptr : intensities_storage.data();
}

template void PointCloudCPU::add_intensities(const float* intensities, int num_points);
Expand All @@ -161,35 +161,35 @@ PointCloudCPU::Ptr PointCloudCPU::load(const std::string& path) {

frame->num_points = num_points;
frame->points_storage.resize(num_points);
frame->points = frame->points_storage.data();
frame->points = frame->points_storage.empty() ? nullptr : frame->points_storage.data();

ifs.seekg(0, std::ios::beg);
ifs.read(reinterpret_cast<char*>(frame->points), sizeof(Eigen::Vector4d) * frame->size());

if (boost::filesystem::exists(path + "/times.bin")) {
frame->times_storage.resize(frame->size());
frame->times = frame->times_storage.data();
frame->times = frame->times_storage.empty() ? nullptr : frame->times_storage.data();
std::ifstream ifs(path + "/times.bin", std::ios::binary);
ifs.read(reinterpret_cast<char*>(frame->times), sizeof(double) * frame->size());
}

if (boost::filesystem::exists(path + "/normals.bin")) {
frame->normals_storage.resize(frame->size());
frame->normals = frame->normals_storage.data();
frame->normals = frame->normals_storage.empty() ? nullptr : frame->normals_storage.data();
std::ifstream ifs(path + "/normals.bin", std::ios::binary);
ifs.read(reinterpret_cast<char*>(frame->normals), sizeof(Eigen::Vector4d) * frame->size());
}

if (boost::filesystem::exists(path + "/covs.bin")) {
frame->covs_storage.resize(frame->size());
frame->covs = frame->covs_storage.data();
frame->covs = frame->covs_storage.empty() ? nullptr : frame->covs_storage.data();
std::ifstream ifs(path + "/covs.bin", std::ios::binary);
ifs.read(reinterpret_cast<char*>(frame->covs), sizeof(Eigen::Matrix4d) * frame->size());
}

if (boost::filesystem::exists(path + "/intensities.bin")) {
frame->intensities_storage.resize(frame->size());
frame->intensities = frame->intensities_storage.data();
frame->intensities = frame->intensities_storage.empty() ? nullptr : frame->intensities_storage.data();
std::ifstream ifs(path + "/intensities.bin", std::ios::binary);
ifs.read(reinterpret_cast<char*>(frame->intensities), sizeof(double) * frame->size());
}
Expand All @@ -200,7 +200,7 @@ PointCloudCPU::Ptr PointCloudCPU::load(const std::string& path) {

frame->num_points = num_points;
frame->points_storage.resize(num_points);
frame->points = frame->points_storage.data();
frame->points = frame->points_storage.empty() ? nullptr : frame->points_storage.data();
std::vector<Eigen::Vector3f> points_f(num_points);

ifs.seekg(0, std::ios::beg);
Expand All @@ -209,7 +209,7 @@ PointCloudCPU::Ptr PointCloudCPU::load(const std::string& path) {

if (boost::filesystem::exists(path + "/times_compact.bin")) {
frame->times_storage.resize(frame->size());
frame->times = frame->times_storage.data();
frame->times = frame->times_storage.empty() ? nullptr : frame->times_storage.data();
std::vector<float> times_f(frame->size());

std::ifstream ifs(path + "/times_compact.bin", std::ios::binary);
Expand All @@ -219,7 +219,7 @@ PointCloudCPU::Ptr PointCloudCPU::load(const std::string& path) {

if (boost::filesystem::exists(path + "/normals_compact.bin")) {
frame->normals_storage.resize(frame->size());
frame->normals = frame->normals_storage.data();
frame->normals = frame->normals_storage.empty() ? nullptr : frame->normals_storage.data();
std::vector<Eigen::Vector3f> normals_f(frame->size());

std::ifstream ifs(path + "/normals_compact.bin", std::ios::binary);
Expand All @@ -231,7 +231,7 @@ PointCloudCPU::Ptr PointCloudCPU::load(const std::string& path) {

if (boost::filesystem::exists(path + "/covs_compact.bin")) {
frame->covs_storage.resize(frame->size());
frame->covs = frame->covs_storage.data();
frame->covs = frame->covs_storage.empty() ? nullptr : frame->covs_storage.data();
std::vector<Eigen::Matrix<float, 6, 1>> covs_f(frame->size());

std::ifstream ifs(path + "/covs_compact.bin", std::ios::binary);
Expand All @@ -250,7 +250,7 @@ PointCloudCPU::Ptr PointCloudCPU::load(const std::string& path) {

if (boost::filesystem::exists(path + "/intensities_compact.bin")) {
frame->intensities_storage.resize(frame->size());
frame->intensities = frame->intensities_storage.data();
frame->intensities = frame->intensities_storage.empty() ? nullptr : frame->intensities_storage.data();
std::vector<float> intensities_f(frame->size());

std::ifstream ifs(path + "/intensities_compact.bin", std::ios::binary);
Expand Down Expand Up @@ -287,7 +287,7 @@ PointCloudCPU::Ptr PointCloudCPU::load(const std::string& path) {
ifs.read(storage->data(), bytes);

frame->aux_attributes_storage[name] = storage;
frame->aux_attributes[name] = std::make_pair(elem_size, storage->data());
frame->aux_attributes[name] = std::make_pair(elem_size, storage->empty() ? nullptr : storage->data());
}

return frame;
Expand Down
22 changes: 11 additions & 11 deletions src/gtsam_points/types/point_cloud_cpu_funcs.cpp
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Expand Up @@ -28,30 +28,30 @@ PointCloudCPU::Ptr sample(const PointCloud::ConstPtr& frame, const std::vector<i
PointCloudCPU::Ptr sampled(new PointCloudCPU);
sampled->num_points = indices.size();
sampled->points_storage.resize(indices.size());
sampled->points = sampled->points_storage.data();
sampled->points = sampled->points_storage.empty() ? nullptr : sampled->points_storage.data();
std::transform(indices.begin(), indices.end(), sampled->points, [&](const int i) { return frame->points[i]; });

if (frame->times) {
sampled->times_storage.resize(indices.size());
sampled->times = sampled->times_storage.data();
sampled->times = sampled->times_storage.empty() ? nullptr : sampled->times_storage.data();
std::transform(indices.begin(), indices.end(), sampled->times, [&](const int i) { return frame->times[i]; });
}

if (frame->normals) {
sampled->normals_storage.resize(indices.size());
sampled->normals = sampled->normals_storage.data();
sampled->normals = sampled->normals_storage.empty() ? nullptr : sampled->normals_storage.data();
std::transform(indices.begin(), indices.end(), sampled->normals, [&](const int i) { return frame->normals[i]; });
}

if (frame->covs) {
sampled->covs_storage.resize(indices.size());
sampled->covs = sampled->covs_storage.data();
sampled->covs = sampled->covs_storage.empty() ? nullptr : sampled->covs_storage.data();
std::transform(indices.begin(), indices.end(), sampled->covs, [&](const int i) { return frame->covs[i]; });
}

if (frame->intensities) {
sampled->intensities_storage.resize(indices.size());
sampled->intensities = sampled->intensities_storage.data();
sampled->intensities = sampled->intensities_storage.empty() ? nullptr : sampled->intensities_storage.data();
std::transform(indices.begin(), indices.end(), sampled->intensities, [&](const int i) { return frame->intensities[i]; });
}

Expand All @@ -68,7 +68,7 @@ PointCloudCPU::Ptr sample(const PointCloud::ConstPtr& frame, const std::vector<i
}

sampled->aux_attributes_storage[name] = storage;
sampled->aux_attributes[name] = std::make_pair(elem_size, storage->data());
sampled->aux_attributes[name] = std::make_pair(elem_size, storage->empty() ? nullptr : storage->data());
}

return sampled;
Expand Down Expand Up @@ -265,26 +265,26 @@ PointCloudCPU::Ptr voxelgrid_sampling(const PointCloud::ConstPtr& frame, const d

downsampled->num_points = num_points;
downsampled->points_storage.resize(num_points);
downsampled->points = downsampled->points_storage.data();
downsampled->points = downsampled->points_storage.empty() ? nullptr : downsampled->points_storage.data();

if (frame->times) {
downsampled->times_storage.resize(num_points);
downsampled->times = downsampled->times_storage.data();
downsampled->times = downsampled->times_storage.empty() ? nullptr : downsampled->times_storage.data();
}

if (frame->normals) {
downsampled->normals_storage.resize(num_points);
downsampled->normals = downsampled->normals_storage.data();
downsampled->normals = downsampled->normals_storage.empty() ? nullptr : downsampled->normals_storage.data();
}

if (frame->covs) {
downsampled->covs_storage.resize(num_points);
downsampled->covs = downsampled->covs_storage.data();
downsampled->covs = downsampled->covs_storage.empty() ? nullptr : downsampled->covs_storage.data();
}

if (frame->intensities) {
downsampled->intensities_storage.resize(num_points);
downsampled->intensities = downsampled->intensities_storage.data();
downsampled->intensities = downsampled->intensities_storage.empty() ? nullptr : downsampled->intensities_storage.data();
}

if (!frame->aux_attributes.empty()) {
Expand Down
2 changes: 1 addition & 1 deletion src/gtsam_points/types/point_cloud_gpu.cu
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Expand Up @@ -211,7 +211,7 @@ void PointCloudGPU::download_points(CUstream_st* stream) {

if (!points) {
points_storage.resize(num_points);
points = points_storage.data();
points = points_storage.empty() ? nullptr : points_storage.data();
}

std::transform(points_h.begin(), points_h.end(), points, [](const Eigen::Vector3f& p) { return Eigen::Vector4d(p.x(), p.y(), p.z(), 1.0); });
Expand Down
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