PCDWriter::writeBinaryCompressed cannot write large pcd file due to 32-bit limitation

PCDWriter::writeBinaryCompressed cannot write large pcd file due to 32-bit size limitation:

(gdb) l 380
375	  }
376	
377	  char* temp_buf = static_cast<char*> (malloc (static_cast<size_t> (static_cast<float> (data_size) * 1.5f + 8.0f)));
378	  // Compress the valid data
379	  unsigned int compressed_size = pcl::lzfCompress (only_valid_data, 
380	                                                   static_cast<uint32_t> (data_size), 
381	                                                   &temp_buf[8], 
382	                                                   static_cast<uint32_t> (static_cast<float>(data_size) * 1.5f));
383	  unsigned int compressed_final_size = 0;
384	  // Was the compression successful?
(gdb) p data_size
$13 = 2935264192
(gdb) p static_cast<uint32_t> (static_cast<float>(data_size) * 1.5f)
$14 = 107928576

(note that 2935264192*1.5=4402896288, which overflowed on an uint32_t value)

... and this will generate an error message like:
[pcl::lzf_compress] Attempting to write data outside the output buffer!
terminate called after throwing an instance of 'pcl::IOException'
what(): : [pcl::PCDWriter::writeBinaryCompressed] Error during compression!

Your Environment

• Operating System and version: Ubuntu 14.04
• Compiler: gcc 4.8.4
• PCL Version: 1.8.1

Expected Behavior

Write the large .pcd file correctly.

Current Behavior

Generate the following exception and crash:
[pcl::lzf_compress] Attempting to write data outside the output buffer!
terminate called after throwing an instance of 'pcl::IOException'
what(): : [pcl::PCDWriter::writeBinaryCompressed] Error during compression!

Possible Solution

Replace the 32-bit size value used by lzfCompress() to 64-bit (size_t or uint64_t).

Start at PCDWriter::writeBinaryCompressed and read the pcl::lzfCompress interface and its size handling. Trace data_size, temporary-buffer allocation, and compressed-size calculations for the reported 32-bit overflow. Done means large PCD files compress and write successfully without truncation or the reported compression exception.