crash in nearestKSearch when using enableDynamicDepth

[EJKerr]

If I build an octree using enableDynamicDepth, the nearestKSearch crashes with an access violation. It seems to be mis-identifying the node type, thinking that a leaf node is a branch node, and trying too traverse too deeply. Avoiding enableDynamicDepth prevents the crash.

In octree_search.hpp,:
pcl::octree::OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT>::getKNearestNeighborRecursive ...

    if (tree_depth < this->octree_depth_)   // Doesn't the node know if it's is a branch/leaf ? 
    {
      // we have not reached maximum tree depth
      smallest_squared_dist = getKNearestNeighborRecursive (point, K, static_cast<const BranchNode*> (child_node), new_key, tree_depth + 1,
                                                            smallest_squared_dist, point_candidates);
    }
    else
    {
      // we reached leaf node level

[stale]

Marking this as stale due to 30 days of inactivity. It will be closed in 7 days if no further activity occurs.