fix memory issue

Author: stytim

include/camera_extrinsics.hpp

@@ -72,8 +72,6 @@ struct CameraCalibration
 
 struct FrameInfo
 {
-    int16_t* PointCloudData;
-
     CameraCalibration Calibration{};
 
     // Accelerometer reading for extrinsics calibration
@@ -87,6 +85,9 @@ struct FrameInfo
     std::vector<uint16_t> DepthImage;
     int DepthWidth = 0, DepthHeight = 0, DepthStride = 0;
 
+    // Point cloud data
+    std::vector<int16_t> PointCloudData;
+
     uint32_t CameraIndex;
     int FrameNumber;
     char *filename;

src/calib_k4a.cpp

@@ -156,9 +156,13 @@ static FrameInfo process_capture(recording_t *file)
     {
         cout << "Failed to compute point cloud image" << endl;
     }
-    int16_t* point_cloud_image_data = (int16_t*)(void*)k4a_image_get_buffer(point_cloud_image);
-
-    frame.PointCloudData = point_cloud_image_data;
+    
+    // Copy point cloud
+    const size_t cloud_size = k4a_image_get_size(point_cloud_image);
+    const int16_t* point_cloud_image_data = \
+        reinterpret_cast<const int16_t*>( k4a_image_get_buffer(point_cloud_image) );
+    frame.PointCloudData.resize(cloud_size);
+    memcpy(frame.PointCloudData.data(), point_cloud_image_data, cloud_size );
 
     k4a_image_release(transformed_depth_image);
     k4a_image_release(point_cloud_image);

src/camera_extrinsics.cpp

@@ -22,7 +22,7 @@ bool ExtrinsicsCalibration::GenerateFullCloudFromFrames(
     FrameInfo frame)
 {
     const int idx = frame.CameraIndex;
-    if (!frame.PointCloudData) {
+    if (!frame.PointCloudData.data()) {
         return false;
     }
     cout <<"Generating Cloud From Frames"<< endl;
@@ -33,7 +33,7 @@ bool ExtrinsicsCalibration::GenerateFullCloudFromFrames(
     full_cloud[idx]->points_.reserve(count);
     full_cloud[idx]->colors_.reserve(count);
     for (int i = 0; i < count; i += coord_stride) {
-        Eigen::Vector3d q(frame.PointCloudData[3 * i + 0] / 1000.0f, frame.PointCloudData[3 * i + 1] / 1000.0f, frame.PointCloudData[3 * i + 2] / 1000.0f);
+        Eigen::Vector3d q(frame.PointCloudData.data()[3 * i + 0] / 1000.0f, frame.PointCloudData.data()[3 * i + 1] / 1000.0f, frame.PointCloudData.data()[3 * i + 2] / 1000.0f);
         if (q.z() == 0)
         {
             continue;