Uninitialized memory in rs2_project_color_pixel_to_depth_pixel

[stefanhige]

Required Info
Camera Model	D455
Firmware Version	05.13.00.50
Operating System & Version	Win10
Kernel Version (Linux Only)	--
Platform	PC
SDK Version	2.50.0
Language	python
Segment	--

Issue Description

Python utility function rs2_project_color_pixel_to_depth_pixel defined here

librealsense/wrappers/python/pyrsutil.cpp

Line 52 in af7510c

m.def("rs2_project_color_pixel_to_depth_pixel", cp_to_dp, "data"_a, "depth_scale"_a,

returns possibly uninitialized memory from line

librealsense/wrappers/python/pyrsutil.cpp

Line 45 in af7510c

std::array<float, 2> to_pixel;

if the equivalent cpp function rs2_project_color_pixel_to_depth_pixel iterates through a trajectory that maps to all-zero depth values.

librealsense/src/rs.cpp

Line 3772 in af7510c

if (depth == 0)

This also happens in practice in my application.

Possible fix would be
std::array<float, 2> to_pixel{-1.0f, -1.0f};
or similar, indicating to the caller that no valid pixel could be found.

[MartyG-RealSense]

Hi @stefanhige If you would like to suggest a code change to the RealSense SDK's implementation of the rs2_project_depth_pixel_to_color_pixel then you can submit a Pull Request (PR) that makes the suggested change to rs.cpp.

https://github.com/IntelRealSense/librealsense/pulls

If you require the change immediately then you could also create your own custom version of librealsense (either by downloading the source code, or by 'forking' librealsense onto your own GitHub account) and then edit rs.cpp and build the customized SDK.

[Nir-Az]

Hi @stefanhige ,
Thanks for your contribution, your PR was merged 🥇

This issue can be closed.

[MartyG-RealSense]

Hi @stefanhige May this issue be closed now that your PR has been merged? Thanks!

[stefanhige]

Sure! Thank you.

[MartyG-RealSense]

Thanks very much @stefanhige for the update!