From c32f938d1527ad5ca54aa2da3dcad89af9424835 Mon Sep 17 00:00:00 2001
From: Jingye Qiu <qjy0427@gmail.com>
Date: Tue, 9 Jan 2024 18:45:35 +0800
Subject: [PATCH] Use adaptive array size to avoid SIGSEGV

---
 src/lio/LidarFeatureExtractor.cpp | 30 ++++++++++++++----------------
 1 file changed, 14 insertions(+), 16 deletions(-)

diff --git a/src/lio/LidarFeatureExtractor.cpp b/src/lio/LidarFeatureExtractor.cpp
index a86063a..30c910b 100644
--- a/src/lio/LidarFeatureExtractor.cpp
+++ b/src/lio/LidarFeatureExtractor.cpp
@@ -89,17 +89,16 @@ bool LidarFeatureExtractor::plane_judge(const std::vector<PointType>& point_list
 void LidarFeatureExtractor::detectFeaturePoint(pcl::PointCloud<PointType>::Ptr& cloud,
                                                 std::vector<int>& pointsLessSharp,
                                                 std::vector<int>& pointsLessFlat){
-  int CloudFeatureFlag[20000];
-  float cloudCurvature[20000];
-  float cloudDepth[20000];
-  int cloudSortInd[20000];
-  float cloudReflect[20000];
-  int reflectSortInd[20000];
-  int cloudAngle[20000];
-
   pcl::PointCloud<PointType>::Ptr& laserCloudIn = cloud;
 
   int cloudSize = laserCloudIn->points.size();
+  int CloudFeatureFlag[cloudSize + 1];
+  float cloudCurvature[cloudSize + 1];
+  float cloudDepth[cloudSize + 1];
+  int cloudSortInd[cloudSize + 1];
+  float cloudReflect[cloudSize + 1];
+  int reflectSortInd[cloudSize + 1];
+  int cloudAngle[cloudSize + 1];
 
   PointType point;
   pcl::PointCloud<PointType>::Ptr _laserCloud(new pcl::PointCloud<PointType>());
@@ -939,17 +938,16 @@ void LidarFeatureExtractor::detectFeaturePoint2(pcl::PointCloud<PointType>::Ptr&
 
 void LidarFeatureExtractor::detectFeaturePoint3(pcl::PointCloud<PointType>::Ptr& cloud,
                                                 std::vector<int>& pointsLessSharp){
-  int CloudFeatureFlag[20000];
-  float cloudCurvature[20000];
-  float cloudDepth[20000];
-  int cloudSortInd[20000];
-  float cloudReflect[20000];
-  int reflectSortInd[20000];
-  int cloudAngle[20000];
-
   pcl::PointCloud<PointType>::Ptr& laserCloudIn = cloud;
 
   int cloudSize = laserCloudIn->points.size();
+  int CloudFeatureFlag[cloudSize + 1];
+  float cloudCurvature[cloudSize + 1];
+  float cloudDepth[cloudSize + 1];
+  int cloudSortInd[cloudSize + 1];
+  float cloudReflect[cloudSize + 1];
+  int reflectSortInd[cloudSize + 1];
+  int cloudAngle[cloudSize + 1];
 
   PointType point;
   pcl::PointCloud<PointType>::Ptr _laserCloud(new pcl::PointCloud<PointType>());