From c00e70229957664cbf597da7ad5e64b49d8ab1b5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9rgio=20Agostinho?= <sergio.r.agostinho@gmail.com>
Date: Fri, 8 Dec 2017 13:26:50 +0000
Subject: [PATCH] Prevent POINTS field parsing before point_step is specified

---
 io/src/pcd_io.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/io/src/pcd_io.cpp b/io/src/pcd_io.cpp
index 5b418bc56c5..85a40819e0a 100644
--- a/io/src/pcd_io.cpp
+++ b/io/src/pcd_io.cpp
@@ -315,6 +315,8 @@ pcl::PCDReader::readHeader (std::istream &fs, pcl::PCLPointCloud2 &cloud,
       // Get the number of points
       if (line_type.substr (0, 6) == "POINTS")
       {
+        if (!cloud.point_step)
+          throw "Number of POINTS specified before COUNT in header!";
         sstream >> nr_points;
         // Need to allocate: N * point_step
         cloud.data.resize (nr_points * cloud.point_step);