fix(image_projection_based_fusion): fix invalidPointerCast

Signed-off-by: Koichi Imai <kotty.0704@gmail.com>

perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp

@@ -322,9 +322,9 @@ dc   | dc dc dc  dc ||zc|
     int stride = p_step * i;
     unsigned char * data = &painted_pointcloud_msg.data[0];
     unsigned char * output = &painted_pointcloud_msg.data[0];
-    float p_x = *reinterpret_cast<const float *>(&data[stride + x_offset]);
-    float p_y = *reinterpret_cast<const float *>(&data[stride + y_offset]);
-    float p_z = *reinterpret_cast<const float *>(&data[stride + z_offset]);
+    float p_x = *reinterpret_cast<const float *>(data + stride + x_offset);
+    float p_y = *reinterpret_cast<const float *>(data + stride + y_offset);
+    float p_z = *reinterpret_cast<const float *>(data + stride + z_offset);
     point_lidar << p_x, p_y, p_z;
     point_camera = lidar2cam_affine * point_lidar;
     p_x = point_camera.x();
@@ -345,7 +345,7 @@ dc   | dc dc dc  dc ||zc|
       int label2d = feature_object.object.classification.front().label;
       if (!isUnknown(label2d) && isInsideBbox(projected_point.x(), projected_point.y(), roi, p_z)) {
         data = &painted_pointcloud_msg.data[0];
-        auto p_class = reinterpret_cast<float *>(&output[stride + class_offset]);
+        auto p_class = reinterpret_cast<float *>(output + stride + class_offset);
         for (const auto & cls : isClassTable_) {
           // add up the class values if the point belongs to multiple classes
           *p_class = cls.second(label2d) ? (class_index_[cls.first] + *p_class) : *p_class;