Fix PointCloud2 buffers #244
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Move the decoding buffer out of Points, since it's only needed during base64 decode.
jubeira
reviewed
Jan 10, 2019
src/sensors/PointCloud2.js
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| if (msg.data.buffer) { | ||
| this.points.buffer.set(msg.data); | ||
| this.buffer = msg.data.slice(0, Math.min(msg.data.byteLength, bufSz)); | ||
| n = msg.height*msg.width / pointRatio; |
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Note that n doesn't necessarily match the proper limit to iterate this.points.positions.array below (see here), as height and width come from the message but you might be clipping the buffer to bufSz.
In other words, you may get out of range of points.positions.array when you iterate up to n like this.
One option could be making n = Math.min(msg.height*msg.width / pointRatio, this.points.positions.array.length / 3); (the else case below this one also needs to be reviewed).
jubeira
reviewed
Jan 11, 2019
Thanks @jubeira for this change. Co-Authored-By: mvollrath <matt@endpoint.com>
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Hi @mvollrath, I put you as a maintainer as you seems working hard on rosbridge, and roslibs. Feel free to merge the patches in. 👍 |
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Thank you! |
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Move the decoding buffer out of Points, since it's only needed during base64 decode. This prevents unnecessary buffer dereference during decoding.
This also prevents certain errors when the point cloud data is malformed by slicing the original buffer during binary decoding.