FIX: Avoid throw when viewing and describing as text a PCD with an empty field

Author: jlblancoc

apps/RawLogViewer/ViewOptions3DPoints.cpp

@@ -127,8 +127,8 @@ ViewOptions3DPoints::ViewOptions3DPoints(wxWindow* parent, wxWindowID id)
   FlexGridSizer3->Add(
       cbOnlyPointsWithColor, 1, wxALL | wxALIGN_CENTER_HORIZONTAL | wxALIGN_CENTER_VERTICAL, 5);
 
-  const wxString colorOptions[] = {"x", "y", "z",    "i",         "intensity",   "ambient",
-                                   "r", "t", "time", "timestamp", "reflectivity"};
+  const wxString colorOptions[] = {"x",    "y", "z",    "i",         "intensity",   "ambient",
+                                   "ring", "t", "time", "timestamp", "reflectivity"};
 
   cbColorByAxis = new wxComboBox(
       this, ID_RADIOBOX1, _("Otherwise, color from:"), wxDefaultPosition, wxDefaultSize,

libs/maps/src/obs/CObservationPointCloud.cpp

@@ -66,8 +66,11 @@ void CObservationPointCloud::getDescriptionAsText(std::ostream& o) const
       {
         continue;
       }
-      float Imin, Imax;
-      mrpt::math::minimum_maximum(*data, Imin, Imax);
+      float Imin = 0, Imax = 0;
+      if (!data->empty())
+      {
+        mrpt::math::minimum_maximum(*data, Imin, Imax);
+      }
       o << mrpt::format(
           "Field: %-20.*s (float32): min=%7.02f max=%7.02f (%zu entries)\n",
           static_cast<int>(fieldName.size()), fieldName.data(), Imin, Imax, data->size());
@@ -79,8 +82,11 @@ void CObservationPointCloud::getDescriptionAsText(std::ostream& o) const
       {
         continue;
       }
-      uint16_t Imin, Imax;
-      mrpt::math::minimum_maximum(*data, Imin, Imax);
+      uint16_t Imin = 0, Imax = 0;
+      if (!data->empty())
+      {
+        mrpt::math::minimum_maximum(*data, Imin, Imax);
+      }
       o << mrpt::format(
           "Field: %-20.*s  (uint16): min=%7hu max=%7hu (%zu entries)\n",
           static_cast<int>(fieldName.size()), fieldName.data(), Imin, Imax, data->size());

libs/maps/src/obs/customizable_obs_viz.cpp

@@ -101,7 +101,7 @@ void mrpt::obs::recolorize3Dpc(
     return;
   }
 
-  std::pair<float, float> dataLimits;
+  std::pair<float, float> dataLimits{0, 0};
   std::size_t dataPoints = 0;
 
   const mrpt::aligned_std_vector<float>* fieldData_f = nullptr;
@@ -110,16 +110,22 @@ void mrpt::obs::recolorize3Dpc(
   if (fieldData_f = originalPts->getPointsBufferRef_float_field(p.colorizeByField); fieldData_f)
   {
     dataPoints = fieldData_f->size();
-    mrpt::math::minimum_maximum(*fieldData_f, dataLimits.first, dataLimits.second);
+    if (dataPoints)
+    {
+      mrpt::math::minimum_maximum(*fieldData_f, dataLimits.first, dataLimits.second);
+    }
   }
   else if (fieldData_u = originalPts->getPointsBufferRef_uint_field(p.colorizeByField); fieldData_u)
   {
     dataPoints = fieldData_u->size();
 
-    uint16_t uMin, uMax;
-    mrpt::math::minimum_maximum(*fieldData_u, uMin, uMax);
-    dataLimits.first = static_cast<float>(uMin);
-    dataLimits.second = static_cast<float>(uMax);
+    if (dataPoints)
+    {
+      uint16_t uMin = 0, uMax = 0;
+      mrpt::math::minimum_maximum(*fieldData_u, uMin, uMax);
+      dataLimits.first = static_cast<float>(uMin);
+      dataLimits.second = static_cast<float>(uMax);
+    }
   }
 
   if (!fieldData_f && !fieldData_u)