From e0c4249490ba7945f23c2cd63ab59384db831f66 Mon Sep 17 00:00:00 2001 From: Koichi Imai Date: Wed, 10 Jul 2024 10:12:50 +0900 Subject: [PATCH] fix(image_projection_based_fusion): fix invalidPointerCast Signed-off-by: Koichi Imai --- .../src/pointpainting_fusion/node.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp index ffeb47d3123a3..35f4b845c5dfe 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/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(&data[stride + x_offset]); - float p_y = *reinterpret_cast(&data[stride + y_offset]); - float p_z = *reinterpret_cast(&data[stride + z_offset]); + float p_x = *reinterpret_cast(data + stride + x_offset); + float p_y = *reinterpret_cast(data + stride + y_offset); + float p_z = *reinterpret_cast(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(&output[stride + class_offset]); + auto p_class = reinterpret_cast(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;