From 71191e36d6b278e1d20007b6b217d799388e84ae Mon Sep 17 00:00:00 2001
From: yomna-safaa <yomna.safaa.eldin@gmail.com>
Date: Wed, 21 Mar 2018 17:56:36 +0200
Subject: [PATCH] Merge pull request #1583 from yomna-safaa:ppf-fix-seg-fault

* fixed bug when norm less than eps where float array elements were left uninitialized

* cast double to float in fixing ppf norm=0 segmantation fault

* set array values 3,4,5 for normals = 0 in case of norm<eps to fix ppf segmentation fault bug
---
 modules/surface_matching/src/ppf_helpers.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/modules/surface_matching/src/ppf_helpers.cpp b/modules/surface_matching/src/ppf_helpers.cpp
index 0e70e23b9..84b9eaf60 100644
--- a/modules/surface_matching/src/ppf_helpers.cpp
+++ b/modules/surface_matching/src/ppf_helpers.cpp
@@ -442,6 +442,12 @@ Mat samplePCByQuantization(Mat pc, Vec2f& xrange, Vec2f& yrange, Vec2f& zrange,
         pcData[4]=(float)(ny/norm);
         pcData[5]=(float)(nz/norm);
       }
+      else
+      {
+        pcData[3]=0.0f;
+        pcData[4]=0.0f;
+        pcData[5]=0.0f;
+      }
       //#pragma omp atomic
       c++;