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Prevent exception in PCDReader for misformed PCD files #4566

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Feb 2, 2021
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Prevent exception in PCDReader for misformed PCD files #4566

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35fc8f8
Prevent exception in PCDReader for misformed PCD files
mvieth Jan 5, 2021
bef71d3
Print pointer number
mvieth Jan 6, 2021
3129025
Minor changes/rewordings
mvieth Feb 2, 2021
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12 changes: 12 additions & 0 deletions io/src/pcd_io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -424,6 +424,10 @@ pcl::PCDReader::readBodyASCII (std::istream &fs, pcl::PCLPointCloud2 &cloud, int
{
// Get the number of points the cloud should have
unsigned int nr_points = cloud.width * cloud.height;
// The number of elements each line/point should have
const unsigned int elems_per_line = std::accumulate (cloud.fields.cbegin (), cloud.fields.cend (), 0u,
[](const auto& i, const auto& field){ return (i + field.count); });
PCL_DEBUG ("[pcl::PCDReader::readBodyASCII] Will check that each line in the PCD file has %u elements.\n", elems_per_line);

// Setting the is_dense property to true by default
cloud.is_dense = true;
Expand All @@ -447,6 +451,14 @@ pcl::PCDReader::readBodyASCII (std::istream &fs, pcl::PCLPointCloud2 &cloud, int
boost::trim (line);
boost::split (st, line, boost::is_any_of ("\t\r "), boost::token_compress_on);

if (st.size () != elems_per_line) // If this is not checked, an exception might occur while accessing st
{
PCL_WARN ("[pcl::PCDReader::readBodyASCII] Possibly malformed PCD file: point number %u has %zu elements, but should have %u\n",
idx+1, st.size (), elems_per_line);
++idx; // Skip this line/point, but read all others
continue;
}

if (idx >= nr_points)
{
PCL_WARN ("[pcl::PCDReader::read] input has more points (%d) than advertised (%d)!\n", idx, nr_points);
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