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Keep in mind that setting msg->width and msg->height has no effect over msg->points. The problem is that you are trying to iterate over msg->points when it is still empty.

You can verify that actually, the inside of the for loop is never being executed and msg->points.size() will be 0. msg->width * msg->height will be equal to pc.points.size() and hence the assertion failure.

You should iterate over the correct variable. Probably pc.points

I might be wrong, but I hope this helps.

Keep in mind that setting msg->width and msg->height has no effect over msg->points. The problem is that you are trying to iterate over msg->points when it is still empty.

You can verify that actually, the inside of the for for loop is never being executed and msg->points.size() will be 0. msg->width * msg->height will be equal to pc.points.size() and hence the assertion failure.

You should iterate over the correct variable. Probably pc.points

I might be wrong, but I hope this helps.