Fix seg fault in t::geometry::TriangleMesh::SelectByIndex for negativ…

…e index (#6489) And add a C++ test.
isl-org · Nov 14, 2023 · 9b45f01 · 9b45f01
1 parent 9cf5df2
commit 9b45f01
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Showing 2 changed files with 18 additions and 7 deletions.
diff --git a/cpp/open3d/t/geometry/TriangleMesh.cpp b/cpp/open3d/t/geometry/TriangleMesh.cpp
@@ -1171,6 +1171,7 @@ TriangleMesh TriangleMesh::SelectByIndex(const core::Tensor &indices) const {
                                     "out of range. "
                                     "It is ignored.",
                                     indices_ptr[i]);
+                            continue;
                         }
                         vertex_mask_ptr[indices_ptr[i]] = 1;
                     }

diff --git a/cpp/tests/t/geometry/TriangleMesh.cpp b/cpp/tests/t/geometry/TriangleMesh.cpp
@@ -1143,16 +1143,18 @@ TEST_P(TriangleMeshPermuteDevices, SelectByIndex) {
 
     // check basic case
     core::Tensor indices = core::Tensor::Init<int64_t>({2, 3, 6, 7});
-    t::geometry::TriangleMesh selected = box.SelectByIndex(indices);
+    t::geometry::TriangleMesh selected_basic = box.SelectByIndex(indices);
 
-    EXPECT_TRUE(selected.GetVertexPositions().AllClose(expected_verts));
-    EXPECT_TRUE(selected.GetVertexColors().AllClose(expected_vert_colors));
+    EXPECT_TRUE(selected_basic.GetVertexPositions().AllClose(expected_verts));
     EXPECT_TRUE(
-            selected.GetVertexAttr("labels").AllClose(expected_vert_labels));
-    EXPECT_TRUE(selected.GetTriangleIndices().AllClose(expected_tris));
-    EXPECT_TRUE(selected.GetTriangleNormals().AllClose(expected_tri_normals));
+            selected_basic.GetVertexColors().AllClose(expected_vert_colors));
+    EXPECT_TRUE(selected_basic.GetVertexAttr("labels").AllClose(
+            expected_vert_labels));
+    EXPECT_TRUE(selected_basic.GetTriangleIndices().AllClose(expected_tris));
     EXPECT_TRUE(
-            selected.GetTriangleAttr("labels").AllClose(expected_tri_labels));
+            selected_basic.GetTriangleNormals().AllClose(expected_tri_normals));
+    EXPECT_TRUE(selected_basic.GetTriangleAttr("labels").AllClose(
+            expected_tri_labels));
 
     // check duplicated indices case
     core::Tensor indices_duplicate =
@@ -1172,6 +1174,14 @@ TEST_P(TriangleMeshPermuteDevices, SelectByIndex) {
     EXPECT_TRUE(selected_duplicate.GetTriangleAttr("labels").AllClose(
             expected_tri_labels));
 
+    core::Tensor indices_negative =
+            core::Tensor::Init<int64_t>({2, -4, 3, 6, 7});
+    t::geometry::TriangleMesh selected_negative =
+            box.SelectByIndex(indices_negative);
+    EXPECT_TRUE(
+            selected_negative.GetVertexPositions().AllClose(expected_verts));
+    EXPECT_TRUE(selected_negative.GetTriangleIndices().AllClose(expected_tris));
+
     // select with empty triangles as result
     // set the expected value
     core::Tensor expected_verts_no_tris = core::Tensor::Init<float>(