From 09c76582b5ff0f2b942609f5c85744f1ce96e332 Mon Sep 17 00:00:00 2001
From: Markus Vieth <mvieth@techfak.uni-bielefeld.de>
Date: Mon, 10 Jan 2022 13:40:24 +0100
Subject: [PATCH] Fix octree dynamic-depths tests If enableDynamicDepth is not
 called on a "fresh" octree, the assert inside the function aborts the test
 Problem was introduced in commit
 https://github.com/PointCloudLibrary/pcl/commit/8bd1213e914bcf9cd0729ed34c0c8351d41d342c
 while extending tests

---
 test/octree/test_octree.cpp | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/test/octree/test_octree.cpp b/test/octree/test_octree.cpp
index 0a4df9e6e3d..27c890b18fd 100644
--- a/test/octree/test_octree.cpp
+++ b/test/octree/test_octree.cpp
@@ -1132,10 +1132,6 @@ TEST (PCL, Octree_Pointcloud_Nearest_K_Neighbour_Search)
 
   std::priority_queue<prioPointQueueEntry, pcl::PointCloud<prioPointQueueEntry>::VectorType> pointCandidates;
 
-  // create octree
-  OctreePointCloudSearch<PointXYZ> octree (0.1);
-  octree.setInputCloud (cloudIn);
-
   Indices k_indices;
   std::vector<float> k_sqr_distances;
 
@@ -1143,6 +1139,10 @@ TEST (PCL, Octree_Pointcloud_Nearest_K_Neighbour_Search)
   std::vector<float> k_sqr_distances_bruteforce;
 
   for (const std::size_t maxObjsPerLeaf: {0, 5}) {
+    // create octree
+    OctreePointCloudSearch<PointXYZ> octree (0.1);
+    octree.setInputCloud (cloudIn);
+
     if (maxObjsPerLeaf != 0)
       octree.enableDynamicDepth (maxObjsPerLeaf);
     for (unsigned int test_id = 0; test_id < test_runs; test_id++)
@@ -1233,11 +1233,11 @@ TEST (PCL, Octree_Pointcloud_Box_Search)
 
   srand (static_cast<unsigned int> (time (nullptr)));
 
-  // create octree
-  OctreePointCloudSearch<PointXYZ> octree (1);
-  octree.setInputCloud (cloudIn);
-
   for (const std::size_t maxObjsPerLeaf: {0, 5}) {
+    // create octree
+    OctreePointCloudSearch<PointXYZ> octree (1);
+    octree.setInputCloud (cloudIn);
+
     if (maxObjsPerLeaf != 0)
       octree.enableDynamicDepth (maxObjsPerLeaf);
     for (unsigned int test_id = 0; test_id < test_runs; test_id++)