PCD read Header int32 overflow causes seg fault for big pcd binary file

[JD-ETH]

When a pcd file has size over uint32_t max (4.2G), it is going to cause segfault when using io::loadpcd or io::loadply.

Your Environment

• Operating System and version: Ubuntu 16.04
• Compiler: gcc, c++ 11
• PCL Version: current master

Context

https://github.com/PointCloudLibrary/pcl/blob/master/io/src/pcd_io.cpp#L319
this line:

int nr_points;
cloud.data.resize (nr_points * cloud.point_step);

if the multiplication causes int32 to overflow, the data is resized wrong and cause segfault in the conversion to pcl::PointCloud.

Expected Behavior

not segfault

Current Behavior

overflow causes memcopy to be less than expected

Code to Reproduce

Any Binary file exceeding 4.3 G should do.

Possible Solution

change the nr_points definition to size_t should fix it

[taketwo]

Thanks for reporting.