[RangeImage] Segmentation Fault in RangeImage::createFromPointCloud

[CaptainXX]

Describe the bug

Api RangImage::createFromPointCloud will cause segmentation fault when there is a zero point (x, y, z = 0, 0, 0) in the pointcloud. The Library is built from the newest release source code.

Context

I was trying to generate and visualize the range view image from pointcloud with the pcl tutorial code. It was ok when using the generated pointcloud, but when I was trying to run it with a pcd file from DAIR-V2X-I Dataset, a segmentaion fault happened.

Then I tried to run it with gdb, the stack showed pcl::RangeImage::getImagePoint caused this segmentation fault.

(gdb) r
Starting program: /home/bw/bg_substraction/build/pcl_inspector ./test-ascii.pcd
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".

Program received signal SIGSEGV, Segmentation fault.
0x00007ffff7f88656 in pcl::RangeImage::getImagePoint(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&, float&, float&, float&) const () from /usr/local/lib/libpcl_visualization.so.1.12
(gdb) bt
#0  0x00007ffff7f88656 in pcl::RangeImage::getImagePoint(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&, float&, float&, float&) const () from /usr/local/lib/libpcl_visualization.so.1.12
#1  0x00005555555637ec in void pcl::RangeImage::doZBuffer<pcl::PointCloud<pcl::PointXYZ> >(pcl::PointCloud<pcl::PointXYZ> const&, float, float, int&, int&, int&, int&) ()
#2  0x000055555556081a in void pcl::RangeImage::createFromPointCloud<pcl::PointCloud<pcl::PointXYZ> >(pcl::PointCloud<pcl::PointXYZ> const&, float, float, float, float, Eigen::Transform<float, 3, 2, 0> const&, pcl::RangeImage::CoordinateFrame, float, float, int) ()
#3  0x000055555555b456 in main ()
(gdb) 

And I found that the segementation fault always happened at getting the last point. It showed to be a row with (x, y, z, intensity) = (0, 0, 0, 0). Then I deleted it, and the program worked again.

Expected behavior

A RangImage object can be successfully initialized from pointcloud.

Current Behavior

Segmentation fault in situation described above.

To Reproduce

Simply add a full zero row in the data field of the pcd file. I tested a few of files, and all of them cloud reproduce this problem.

A segmentation fault generator pcd file like this:

Run it with the tutorial code:

Your Environment (please complete the following information):

• OS: Debian 5.10.127-2 (2022-07-23) x86_64 GNU/Linux
• Compiler: gcc 10.2.1
• PCL Version: 1.12.1

Possible Solution

I found the patch in #5149, but it did not work.

[mvieth]

Please try compiling the latest PCL master branch and check if the problem still exists (remember to first delete the currently installed PCL and also recompile your own code)

[CaptainXX]

It's solved in master branch! Sorry for not testing it.

Hope there will be a new release, because most of people may not clone and build from master branch.

@mvieth Thanks a lot for your reply!

[mvieth]

You're welcome. Yes, we will consider doing a release in the upcoming months