float comparison in BaseNodelet::publishPCTopic() causes out of bound access and segmentation fault

[lsolanka]

With my R200, for some reason this code:

 if (color_pixel[1] < 0.0f || color_pixel[1] > image_color.rows
     || color_pixel[0] < 0.0f || color_pixel[0] > image_color.cols)
{
   // For out of bounds color data, default to a shade of blue in order to visually distinguish holes.
   // This color value is same as the librealsense out of bounds color value.
   *iter_r = static_cast<uint8_t>(96);
   *iter_g = static_cast<uint8_t>(157);
   *iter_b = static_cast<uint8_t>(198);
}
else
{
  int i = static_cast<int>(color_pixel[0]);
  int j = static_cast<int>(color_pixel[1]);

  *iter_r = static_cast<uint8_t>(color_data[i * 3 + j * image_color.cols * 3]);
  *iter_g = static_cast<uint8_t>(color_data[i * 3 + j * image_color.cols * 3 + 1]);
  *iter_b = static_cast<uint8_t>(color_data[i * 3 + j * image_color.cols * 3 + 2]);
}

Causes a segmentation fault because from time to time color_pixel[1] == image_color.rows or color_pixel[0] == image_color.cols.

The image access in the else clause is then out of bounds by 1 pixel, and librealsense_camera_nodelet.so segfaults as a result.

[lsolanka]

Hi,
I noticed that you closed this issue without merging the pull request. Is there any issue with the patch? Is it not relevant?