FIX: Error in CPointCloudColoured

Author: jlblancoc

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,10 @@
 \page changelog Change Log
 
+# Version 2.14.16: UNRELEASED
+- BUG FIXES:
+  - Fix build building deprecated warnings in WorkerThreadsPool.
+  - Fix mrpt::opengl::CPointCloudColoured throwing if the source cloud map may have color and color/intensity channels are actually empty.
+
 # Version 2.14.15: Released Sep 29th, 2025
 - BUG FIXES:
   - Fix regression in OpenGL application crashing after last update.

libs/maps/include/mrpt/maps/CPointsMapXYZI.h

@@ -163,8 +163,10 @@ class CPointsMapXYZI : public CPointsMap
   /** Like \c getPointColor but without checking for out-of-index errors */
   inline float getPointIntensity_fast(size_t index) const { return m_intensity[index]; }
 
+  bool hasIntensityField() const { return !m_intensity.empty(); }
+
   /** Returns true if the point map has a color field for each point */
-  bool hasColorPoints() const override { return true; }
+  bool hasColorPoints() const override { return hasIntensityField(); }
 
   /** Override of the default 3D scene builder to account for the individual
    * points' color.

libs/maps/include/mrpt/maps/CPointsMapXYZIRT.h

@@ -224,7 +224,7 @@ class CPointsMapXYZIRT : public CPointsMap
   inline float getPointIntensity_fast(size_t index) const { return m_intensity[index]; }
 
   /** Returns true if the point map has a color field for each point */
-  bool hasColorPoints() const override { return true; }
+  bool hasColorPoints() const override { return hasIntensityField(); }
 
   /** Override of the default 3D scene builder to account for the individual
    * points' color.

libs/opengl/include/mrpt/opengl/CPointCloudColoured.h

@@ -399,20 +399,22 @@ void CPointCloudColoured::loadFromPointsMap(const POINTSMAP* themap)
   const mrpt::opengl::PointCloudAdapter<POINTSMAP> pc_src(*themap);
   const size_t N = pc_src.size();
   pc_dst.resize(N);
+  const bool isColorFilled = themap->hasColorPoints();
   for (size_t i = 0; i < N; i++)
   {
     if constexpr (mrpt::opengl::PointCloudAdapter<POINTSMAP>::HAS_RGB)
     {
-      float x, y, z, r, g, b, a;
-      pc_src.getPointXYZ_RGBAf(i, x, y, z, r, g, b, a);
-      pc_dst.setPointXYZ_RGBAf(i, x, y, z, r, g, b, a);
-    }
-    else
-    {
-      float x, y, z;
-      pc_src.getPointXYZ(i, x, y, z);
-      pc_dst.setPointXYZ_RGBAf(i, x, y, z, 0, 0, 0, 1);
+      if (isColorFilled)
+      {
+        float x, y, z, r, g, b, a;
+        pc_src.getPointXYZ_RGBAf(i, x, y, z, r, g, b, a);
+        pc_dst.setPointXYZ_RGBAf(i, x, y, z, r, g, b, a);
+        continue;
+      }
     }
+    float x, y, z;
+    pc_src.getPointXYZ(i, x, y, z);
+    pc_dst.setPointXYZ_RGBAf(i, x, y, z, 0, 0, 0, 1);
   }
 }
 }  // namespace mrpt::opengl