Merge pull request PointCloudLibrary#453 from taketwo/fix-copy-point-…

…cloud Fix out-of-bound array access in `copyPointCloud()`
levi-2020 · Jan 21, 2014 · 1bd2020 · 1bd2020
2 parents 01e5fab + e01aec8
commit 1bd2020
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Showing 2 changed files with 23 additions and 2 deletions.
diff --git a/common/include/pcl/common/impl/io.hpp b/common/include/pcl/common/impl/io.hpp
@@ -293,7 +293,7 @@ pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
         // Copy the rest
         pcl::for_each_type<FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[indices[i]], cloud_out.points[i]));
         // Copy RGB<->RGBA
-        memcpy (reinterpret_cast<char*> (&cloud_out.points[indices[i]]) + fields_out[rgb_idx_out].offset, reinterpret_cast<const char*> (&cloud_in.points[i]) + fields_in[rgb_idx_in].offset, field_size_in);
+        memcpy (reinterpret_cast<char*> (&cloud_out.points[i]) + fields_out[rgb_idx_out].offset, reinterpret_cast<const char*> (&cloud_in.points[indices[i]]) + fields_in[rgb_idx_in].offset, field_size_in);
       }
       return;
     }
@@ -470,7 +470,7 @@ pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
         // Copy the rest
         pcl::for_each_type<FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[indices.indices[i]], cloud_out.points[i]));
         // Copy RGB<->RGBA
-        memcpy (reinterpret_cast<char*> (&cloud_out.points[indices.indices[i]]) + fields_out[rgb_idx_out].offset, reinterpret_cast<const char*> (&cloud_in.points[i]) + fields_in[rgb_idx_in].offset, field_size_in);
+        memcpy (reinterpret_cast<char*> (&cloud_out.points[i]) + fields_out[rgb_idx_out].offset, reinterpret_cast<const char*> (&cloud_in.points[indices.indices[i]]) + fields_in[rgb_idx_in].offset, field_size_in);
       }
       return;
     }

diff --git a/test/common/test_io.cpp b/test/common/test_io.cpp
@@ -379,6 +379,27 @@ TEST (PCL, concatenatePointCloud)
   }
 }
 
+TEST (PCL, CopyPointCloudWithIndicesAndRGBToRGBA)
+{
+  CloudXYZRGB cloud_xyz_rgb;
+  CloudXYZRGBA cloud_xyz_rgba (5, 1, pt_xyz_rgba);
+
+  std::vector<int> indices;
+  indices.push_back (2);
+  indices.push_back (3);
+
+  pcl::copyPointCloud (cloud_xyz_rgba, indices, cloud_xyz_rgb);
+
+  EXPECT_EQ (indices.size (), cloud_xyz_rgb.size ());
+  for (size_t i = 0; i < indices.size (); ++i)
+  {
+    EXPECT_FLOAT_EQ (cloud_xyz_rgb[i].x, cloud_xyz_rgba[indices[i]].x);
+    EXPECT_FLOAT_EQ (cloud_xyz_rgb[i].y, cloud_xyz_rgba[indices[i]].y);
+    EXPECT_FLOAT_EQ (cloud_xyz_rgb[i].z, cloud_xyz_rgba[indices[i]].z);
+    EXPECT_EQ (cloud_xyz_rgb[i].rgba, cloud_xyz_rgba[indices[i]].rgba);
+  }
+}
+
 /* ---[ */
 int
 main (int argc, char** argv)