pcl::PCLHeader is not swapped in pcl::PointCloud::swap

[csukuangfj]

Your Environment

• PCL Version: master branch

Context

See the code

pcl/common/include/pcl/point_cloud.h

Line 407 in 9467b94

pcl::PCLHeader header;

pcl/common/include/pcl/point_cloud.h

Lines 563 to 571 in 9467b94

	swap (PointCloud<PointT> &rhs)
	{
	this->points.swap (rhs.points);
	std::swap (width, rhs.width);
	std::swap (height, rhs.height);
	std::swap (is_dense, rhs.is_dense);
	std::swap (sensor_origin_, rhs.sensor_origin_);
	std::swap (sensor_orientation_, rhs.sensor_orientation_);
	}

In addition, the same goes to

pcl/common/include/pcl/point_cloud.h

Line 592 in 9467b94

boost::shared_ptr<MsgFieldMap> mapping_;

Expected Behavior

All data members including header and mapping_ should be swapped.

Current Behavior

header and mapping_ are missing.

Code to Reproduce

See the code above.

Possible Solution

Swap header and mapping_.

[taketwo]

👍 for swapping header. I'm not sure what's the purpose of the mapping field, seems like unused legacy code to me.

[csukuangfj]

@taketwo
It seems that mapping_ is used only by

pcl/common/include/pcl/point_cloud.h

Lines 600 to 607 in d1d59c6

	namespace detail
	{
	template <typename PointT> boost::shared_ptr<pcl::MsgFieldMap>&
	getMapping (pcl::PointCloud<PointT>& p)
	{
	return (p.mapping_);
	}
	} // namespace detail

But getMapping() is never used in the project, so mapping_ does not need to be swapped.

PS: mapping_ and getMapping() might be removed from the project.