From 77a03dc32702427fb3547668c55f9b8533f59b32 Mon Sep 17 00:00:00 2001
From: Markus Vieth <mvieth@techfak.uni-bielefeld.de>
Date: Sat, 7 Dec 2024 14:11:43 +0100
Subject: [PATCH] Add checks in point cloud handler for correct types See
 https://github.com/PointCloudLibrary/pcl/issues/6186

---
 .../impl/point_cloud_color_handlers.hpp              | 12 +++++++++---
 visualization/src/point_cloud_handlers.cpp           |  8 ++++++++
 2 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp b/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp
index 7441dd8a4a9..4e5aa57b5c4 100644
--- a/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp
+++ b/visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp
@@ -368,10 +368,16 @@ PointCloudColorHandlerGenericField<PointT>::setInputCloud (
 {
   PointCloudColorHandler<PointT>::setInputCloud (cloud);
   field_idx_  = pcl::getFieldIndex<PointT> (field_name_, fields_);
-  if (field_idx_ != -1)
-    capable_ = true;
-  else
+  if (field_idx_ == -1) {
     capable_ = false;
+    return;
+  }
+  if (fields_[field_idx_].datatype != pcl::PCLPointField::PointFieldTypes::FLOAT32) {
+    capable_ = false;
+    PCL_ERROR("[pcl::PointCloudColorHandlerGenericField::setInputCloud] This currently only works with float32 fields, but field %s has a different type.\n", field_name_.c_str());
+    return;
+  }
+  capable_ = true;
 }
 
 
diff --git a/visualization/src/point_cloud_handlers.cpp b/visualization/src/point_cloud_handlers.cpp
index 4b70dd9ec17..00dedb9b5ae 100644
--- a/visualization/src/point_cloud_handlers.cpp
+++ b/visualization/src/point_cloud_handlers.cpp
@@ -420,6 +420,10 @@ pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2>::Poi
 {
   field_idx_  = pcl::getFieldIndex (*cloud, field_name);
   capable_ = field_idx_ != -1;
+  if (field_idx_ != -1 && cloud_->fields[field_idx_].datatype != pcl::PCLPointField::PointFieldTypes::FLOAT32) {
+    capable_ = false;
+    PCL_ERROR("[pcl::PointCloudColorHandlerGenericField] This currently only works with float32 fields, but field %s has a different type.\n", field_name.c_str());
+  }
 }
 
 ///////////////////////////////////////////////////////////////////////////////////////////
@@ -575,6 +579,10 @@ pcl::visualization::PointCloudColorHandlerLabelField<pcl::PCLPointCloud2>::Point
   field_idx_ = pcl::getFieldIndex (*cloud, "label");
   capable_ = field_idx_ != -1;
   static_mapping_ = static_mapping;
+  if (field_idx_ != -1 && cloud_->fields[field_idx_].datatype != pcl::PCLPointField::PointFieldTypes::UINT32) {
+    capable_ = false;
+    PCL_ERROR("[pcl::PointCloudColorHandlerLabelField] This currently only works with uint32 fields, but label field has a different type.\n");
+  }
 }
 
 ///////////////////////////////////////////////////////////////////////////////////////////