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Fix out of bounds for heap-array in statistical outlier filter #5502

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Nov 1, 2022
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Fix out of bounds for heap-array in statistical outlier filter #5502

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9 changes: 5 additions & 4 deletions filters/include/pcl/filters/impl/statistical_outlier_removal.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,8 +59,9 @@ pcl::StatisticalOutlierRemoval<PointT>::applyFilterIndices (Indices &indices)
searcher_->setInputCloud (input_);

// The arrays to be used
Indices nn_indices (mean_k_);
std::vector<float> nn_dists (mean_k_);
const int searcher_k = mean_k_ + 1; // Find one more, since results include the query point.
Indices nn_indices (searcher_k);
std::vector<float> nn_dists (searcher_k);
std::vector<float> distances (indices_->size ());
indices.resize (indices_->size ());
removed_indices_->resize (indices_->size ());
Expand All @@ -79,7 +80,7 @@ pcl::StatisticalOutlierRemoval<PointT>::applyFilterIndices (Indices &indices)
}

// Perform the nearest k search
if (searcher_->nearestKSearch ((*indices_)[iii], mean_k_ + 1, nn_indices, nn_dists) == 0)
if (searcher_->nearestKSearch ((*indices_)[iii], searcher_k, nn_indices, nn_dists) == 0)
{
distances[iii] = 0.0;
PCL_WARN ("[pcl::%s::applyFilter] Searching for the closest %d neighbors failed.\n", getClassName ().c_str (), mean_k_);
Expand All @@ -88,7 +89,7 @@ pcl::StatisticalOutlierRemoval<PointT>::applyFilterIndices (Indices &indices)

// Calculate the mean distance to its neighbors
double dist_sum = 0.0;
for (int k = 1; k < mean_k_ + 1; ++k) // k = 0 is the query point
for (int k = 1; k < searcher_k; ++k) // k = 0 is the query point
dist_sum += sqrt (nn_dists[k]);
distances[iii] = static_cast<float> (dist_sum / mean_k_);
valid_distances++;
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