Fix segfault (infinite recursion) of PointCloud::DetectPlanarPatches …

…if multiple points have same coordinates (#6794)

CHANGELOG.md

@@ -35,6 +35,7 @@
 - Fix log error message for `probability` argument validation in `PointCloud::SegmentPlane` (PR #6622)
 - Fix macOS arm64 builds, add CI runner for macOS arm64 (PR #6695)
 - Fix KDTreeFlann possibly using a dangling pointer instead of internal storage and simplified its members (PR #6734)
+- Fix segmentation fault (infinite recursion) of DetectPlanarPatches if multiple points have same coordinates (PR #6794)
 
 ## 0.13
 

cpp/open3d/geometry/PointCloudPlanarPatchDetection.cpp

@@ -8,6 +8,7 @@
 #include <Eigen/Dense>
 #include <algorithm>
 #include <cstdint>
+#include <limits>
 #include <numeric>
 #include <queue>
 #include <unordered_map>
@@ -57,12 +58,18 @@ class BoundaryVolumeHierarchy {
 
  /// \brief Constructor for the root node of the octree.
  ///
- /// \param point_cloud is the associated set of points being partitioned
- BoundaryVolumeHierarchy(const PointCloud* point_cloud,
- const Eigen::Vector3d& min_bound,
- const Eigen::Vector3d& max_bound,
- size_t min_points = 1,
- double min_size = 0.0)
+ /// \param point_cloud is the associated set of points being partitioned.
+ /// \param min_bound is the minimum coordinate of the bounding volume.
+ /// \param max_bound is the maximum coordinate of the bounding volume.
+ /// \param min_points is the threshold number of points in a node to stop
+ /// partitioning it further. \param min_size is the threshold size of a node
+ /// to stop partitioning it further.
+ BoundaryVolumeHierarchy(
+ const PointCloud* point_cloud,
+ const Eigen::Vector3d& min_bound,
+ const Eigen::Vector3d& max_bound,
+ size_t min_points = 1,
+ double min_size = std::numeric_limits<double>::epsilon())
  : point_cloud_(point_cloud),
  min_points_(min_points),
  min_size_(min_size),