getSensorsDataBatch: segfault from uninitialized pointer and wrong array indexing

[TimGameDev]

Preliminary Checks

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Description

ZEDController::getSensorsDataBatch() has two bugs that cause a segfault on the first call.

Steps to Reproduce

Bug 1: memset on uninitialized pointer

https://github.com/stereolabs/zed-c-api/blob/main/src/ZEDController.cpp#L640

// ZEDController.cpp line 640
memset(*data, 0, sizeof(SL_SensorsData) * size);

data is an output parameter (SL_SensorsData**). *data is uninitialized — writes to garbage address → SIGSEGV.

Bug 2: Wrong array indexing

https://github.com/stereolabs/zed-c-api/blob/main/src/ZEDController.cpp#L645

// ZEDController.cpp line 645
SL_SensorsData* sensorData = data[i];

data is a pointer to one pointer, not an array of pointers. data[i] for i > 0 reads out of bounds.

Additional: inner loop variable shadowing

https://github.com/stereolabs/zed-c-api/blob/main/src/ZEDController.cpp#L642
https://github.com/stereolabs/zed-c-api/blob/main/src/ZEDController.cpp#L674
The covariance copy loop at line 674 reuses the outer loop variable i:

for (int i = 0; i < size; i++) {           // outer
    for (int i = 0; i < 9; i++) { ... }    // shadows outer i
}

Expected Result

no crashes

Actual Result

SIGSEGV

ZED Camera model

ZED

Environment

ZED SDK 5.3.1, zed-c-api main (751d26f), Jetson Orin NX, JetPack 6.2.2

Anything else?

No response