From b9d9f56b99aac9da4ca1e72a371fad22ac23a1f8 Mon Sep 17 00:00:00 2001
From: shuaidu <dushuai@oppentech.com>
Date: Mon, 7 Sep 2020 08:36:26 +0800
Subject: [PATCH] [Surface/Poisson4] Always update counter and prevent overflow
 access in poisson4 octree (#4316)

---
 .../pcl/surface/3rdparty/poisson4/multi_grid_octree_data.hpp    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/surface/include/pcl/surface/3rdparty/poisson4/multi_grid_octree_data.hpp b/surface/include/pcl/surface/3rdparty/poisson4/multi_grid_octree_data.hpp
index 5168eacf31f..10f49476854 100644
--- a/surface/include/pcl/surface/3rdparty/poisson4/multi_grid_octree_data.hpp
+++ b/surface/include/pcl/surface/3rdparty/poisson4/multi_grid_octree_data.hpp
@@ -812,6 +812,7 @@ namespace pcl
           normal[0] = (*input_)[cnt].normal_x;
           normal[1] = (*input_)[cnt].normal_y;
           normal[2] = (*input_)[cnt].normal_z;
+          cnt++;
 
           for( i=0 ; i<DIMENSION ; i++ ) position[i] = ( position[i]-center[i] ) / scale;
           myCenter[0] = myCenter[1] = myCenter[2] = Real(0.5);
@@ -838,7 +839,6 @@ namespace pcl
             d++;
           }
           NonLinearUpdateWeightContribution( temp , position , weight );
-          cnt++;
         }
       }