[Surface]Using MovingLeastSquares results in a segfault within performUpsampling function

[jsnapz]

Environment Current - Not Working
OS: Ubuntu 20.04.4 LTS
Compiler: GCC 9.4.0
PCL Version: 1.10.0
Architecture: aarch64

Environment Past - Worked
OS: Ubuntu 18.04.6 LTS
Compiler: GCC 7.5.0
PCL Version: 1.8.1
Architecture: aarch64

Hello,

I'm having an issue where I have ported my project over to a new environment. My project used to work before with my past environment but now it is not working with the current. Everything compiles fine but when I run I am getting a segmentation fault when I run. I narrowed it down to happening inside the process function and then inside that the performSampling function. It looks like there were changes in GitHub between these versions(1.8.1 vs 1.10.0) and I thought I accounted for everything but maybe not. I also checked with the master branch and 1.10.0 looks the same for that function.

Sor cloud was obtained through a .ply

Picture of source code past environment

Picture of source code current environment

Pictures of seg fault from current environment

Thank you for the help

[mvieth]

Thanks for the detailed issue report! It seems like this segfault happens when dereferencing normals_, which wasn't set because setComputeNormals was set to false. Try setting it to true instead.
This behaviour changed with this pull request: #1960 (since PCL 1.9.0). Let me check whether this is a bug and how to fix this in the PCL code

[mvieth]

I would say the fix is to simply move the normals_.reset out of the if-statement here: https://github.com/PointCloudLibrary/pcl/blob/master/surface/include/pcl/surface/impl/mls.hpp#L69
If you like, you could create a pull request to fix this. Otherwise I or someone else will do that sometime