Merge pull request #1245 from VictorLamoine/visualizer_vtk_fixes

Check that vtk SafeDownCast worked

visualization/include/pcl/visualization/impl/pcl_visualizer.hpp

@@ -620,12 +620,16 @@ pcl::visualization::PCLVisualizer::updateSphere (const PointT &center, double ra
   // Get the actor pointer
   ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
   vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second);
+  if (!actor)
+    return (false);
 #if VTK_MAJOR_VERSION < 6
   vtkAlgorithm *algo = actor->GetMapper ()->GetInput ()->GetProducerPort ()->GetProducer ();
 #else
   vtkAlgorithm *algo = actor->GetMapper ()->GetInputAlgorithm ();
 #endif
   vtkSphereSource *src = vtkSphereSource::SafeDownCast (algo);
+  if (!src)
+    return (false);
 
   src->SetCenter (double (center.x), double (center.y), double (center.z));
   src->SetRadius (radius);
@@ -1170,6 +1174,8 @@ pcl::visualization::PCLVisualizer::addCorrespondences (
   else
   {
     vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
+    if (!actor)
+      return (false);
     // Update the mapper
 #if VTK_MAJOR_VERSION < 6
     reinterpret_cast<vtkPolyDataMapper*>(actor->GetMapper ())->SetInput (line_data);
@@ -1764,6 +1770,8 @@ pcl::visualization::PCLVisualizer::updatePolygonMesh (
 
   // Update colors
   vtkUnsignedCharArray* colors = vtkUnsignedCharArray::SafeDownCast (polydata->GetPointData ()->GetScalars ());
+  if (!colors)
+    return (false);
   int rgb_idx = -1;
   std::vector<pcl::PCLPointField> fields;
   rgb_idx = pcl::getFieldIndex (*cloud, "rgb", fields);

visualization/src/pcl_visualizer.cpp

@@ -1034,7 +1034,7 @@ namespace
 int
 getDefaultScalarInterpolationForDataSet (vtkDataSet* data)
 {
-  vtkPolyData* polyData = vtkPolyData::SafeDownCast (data);
+  vtkPolyData* polyData = vtkPolyData::SafeDownCast (data); // Check that polyData != NULL in case of segfault
   return (polyData && polyData->GetNumberOfCells () != polyData->GetNumberOfVerts ());
 }
 
@@ -1271,6 +1271,8 @@ pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties (
   }
   // Get the actor pointer
   vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second.actor);
+  if (!actor)
+    return (false);
 
   switch (property)
   {
@@ -1301,6 +1303,8 @@ pcl::visualization::PCLVisualizer::getPointCloudRenderingProperties (int propert
     return (false);
   // Get the actor pointer
   vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second.actor);
+  if (!actor)
+    return (false);
 
   switch (property)
   {
@@ -1346,6 +1350,8 @@ pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties (
   }
   // Get the actor pointer
   vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second.actor);
+  if (!actor)
+    return (false);
 
   switch (property)
   {
@@ -1401,6 +1407,8 @@ pcl::visualization::PCLVisualizer::setPointCloudSelected (const bool selected, c
   }
   // Get the actor pointer
   vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second.actor);
+  if (!actor)
+    return (false);
 
   if (selected)
   {
@@ -1432,6 +1440,8 @@ pcl::visualization::PCLVisualizer::setShapeRenderingProperties (
   }
   // Get the actor pointer
   vtkActor* actor = vtkActor::SafeDownCast (am_it->second);
+  if (!actor)
+    return (false);
 
   switch (property)
   {
@@ -1477,6 +1487,8 @@ pcl::visualization::PCLVisualizer::setShapeRenderingProperties (
   }
   // Get the actor pointer
   vtkActor* actor = vtkActor::SafeDownCast (am_it->second);
+  if (!actor)
+    return (false);
 
   switch (property)
   {
@@ -1501,6 +1513,8 @@ pcl::visualization::PCLVisualizer::setShapeRenderingProperties (
     case PCL_VISUALIZER_FONT_SIZE:
     {
       vtkTextActor* text_actor = vtkTextActor::SafeDownCast (am_it->second);
+      if (!text_actor)
+        return (false);
       vtkSmartPointer<vtkTextProperty> tprop = text_actor->GetTextProperty ();
       tprop->SetFontSize (int (value));
       text_actor->Modified ();
@@ -1710,6 +1724,9 @@ pcl::visualization::PCLVisualizer::updateShapePose (const std::string &id, const
   else
     actor = vtkLODActor::SafeDownCast (am_it->second);
 
+  if (!actor)
+    return (false);
+
   vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
 
   convertToVtkMatrix (pose.matrix (), matrix);
@@ -1733,6 +1750,9 @@ pcl::visualization::PCLVisualizer::updateCoordinateSystemPose (const std::string
   else
     actor = vtkLODActor::SafeDownCast (am_it->second);
 
+  if (!actor)
+    return (false);
+
   vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
 
   convertToVtkMatrix (pose.matrix (), matrix);
@@ -2664,11 +2684,12 @@ pcl::visualization::PCLVisualizer::updateText (const std::string &text, int xpos
 
   // Retrieve the Actor
   vtkTextActor* actor = vtkTextActor::SafeDownCast (am_it->second);
+  if (!actor)
+    return (false);
+
   actor->SetPosition (xpos, ypos);
   actor->SetInput (text.c_str ());
-
   actor->Modified ();
-
   return (true);
 }
 
@@ -2689,6 +2710,8 @@ pcl::visualization::PCLVisualizer::updateText (const std::string &text, int xpos
 
   // Create the Actor
   vtkTextActor* actor = vtkTextActor::SafeDownCast (am_it->second);
+  if (!actor)
+    return (false);
   actor->SetPosition (xpos, ypos);
   actor->SetInput (text.c_str ());
 
@@ -2716,6 +2739,8 @@ pcl::visualization::PCLVisualizer::updateText (const std::string &text, int xpos
 
   // Retrieve the Actor
   vtkTextActor *actor = vtkTextActor::SafeDownCast (am_it->second);
+  if (!actor)
+    return (false);
 
   actor->SetPosition (xpos, ypos);
   actor->SetInput (text.c_str ());
@@ -3210,6 +3235,8 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
 
   vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
   vtkOpenGLHardwareSupport* hardware = vtkOpenGLRenderWindow::SafeDownCast (win_)->GetHardwareSupport ();
+  if (!hardware)
+    return (false);
   bool supported = hardware->GetSupportsMultiTexturing ();
   // Check if hardware support multi texture
   std::size_t texture_units (hardware->GetNumberOfFixedTextureUnits ());
@@ -3745,8 +3772,10 @@ pcl::visualization::PCLVisualizer::renderViewTesselatedSphere (
        continue;
      }
 
-     vtkSmartPointer<vtkIdTypeArray> ids = vtkSmartPointer<vtkIdTypeArray>::New ();
+     vtkSmartPointer<vtkIdTypeArray> ids;
      ids = vtkIdTypeArray::SafeDownCast(hdw_selection->GetNode(0)->GetSelectionList());
+     if (!ids)
+       return;
      double visible_area = 0;
      for (int sel_id = 0; sel_id < (ids->GetNumberOfTuples ()); sel_id++)
      {