message: clusterizer: Fix out of bounds errors in partition
  Change the code to keep r at one-past-the-end of the current range and
  make the code robust wrt out of bounds access in edge cases.
diff: @@ -282,25 +282,28 @@ static size_t kdtreePartition(unsigned int* indices, size_t count, const float*
  assert(count > 0);
  size_t l = 0;
  - size_t r = count - 1;
  + size_t r = count;
  - while (l < r)
  + while (l != r)
  {
  while (points[indices[l] * stride + axis] < pivot)
  + {
  l++;
  + if (l == r) return l;
  + }
  - while (points[indices[r] * stride + axis] > pivot)
  + do
  + {
  r--;
  -
  - if (l >= r)
  - break;
  + if (l == r) return l;
  + }
  + while (points[indices[r] * stride + axis] > pivot);
  unsigned int t = indices[l];
  indices[l] = indices[r];
  indices[r] = t;
  l++;
  - r--;
  }
  return l;
  