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Fix PointCloud2 buffers #244

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merged 2 commits into from
Jan 16, 2019
Merged

Fix PointCloud2 buffers #244

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a0c60f8
Fix PointCloud2 buffers
mvollrath Jan 6, 2019
1122a91
Clamp n in PointCloud2 binary path
Jan 11, 2019
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12 changes: 9 additions & 3 deletions src/sensors/PointCloud2.js
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Original file line number Diff line number Diff line change
Expand Up @@ -62,8 +62,10 @@ ROS3D.PointCloud2 = function(options) {
this.ros = options.ros;
this.topicName = options.topic || '/points';
this.compression = options.compression || 'cbor';
this.max_pts = options.max_pts || 10000;
this.points = new ROS3D.Points(options);
this.rosTopic = undefined;
this.buffer = null;
this.subscribe();
};
ROS3D.PointCloud2.prototype.__proto__ = THREE.Object3D.prototype;
Expand Down Expand Up @@ -94,16 +96,20 @@ ROS3D.PointCloud2.prototype.processMessage = function(msg){
}

var n, pointRatio = this.points.pointRatio;
var bufSz = this.max_pts * msg.point_step;

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).

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} else {
n = decode64(msg.data, this.points.buffer, msg.point_step, pointRatio);
if (!this.buffer || this.buffer.byteLength < bufSz) {
this.buffer = new Uint8Array(bufSz);
}
n = decode64(msg.data, this.buffer, msg.point_step, pointRatio);
pointRatio = 1;
}

var dv = new DataView(this.points.buffer.buffer);
var dv = new DataView(this.buffer.buffer);
var littleEndian = !msg.is_bigendian;
var x = this.points.fields.x.offset;
var y = this.points.fields.y.offset;
Expand Down
5 changes: 0 additions & 5 deletions src/sensors/Points.js
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Original file line number Diff line number Diff line change
Expand Up @@ -40,18 +40,13 @@ ROS3D.Points = function(options) {
}

this.sn = null;
this.buffer = null;
};

ROS3D.Points.prototype.__proto__ = THREE.Object3D.prototype;

ROS3D.Points.prototype.setup = function(frame, point_step, fields)
{
if(this.sn===null){
// scratch space to decode base64 buffers
if(point_step) {
this.buffer = new Uint8Array( this.max_pts * point_step );
}
// turn fields to a map
fields = fields || [];
this.fields = {};
Expand Down