[opencv] 76/98: Fixed uninitialized memory errors in stereoBM
Mattia Rizzolo
mattia at debian.org
Tue Oct 4 17:51:29 UTC 2016
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mattia pushed a commit to annotated tag 2.4.13
in repository opencv.
commit a7ce9a176b6b1beb0d9d40e65d93c41c552613a9
Author: Vitaly Tuzov <vitaly.tuzov at itseez.com>
Date: Sat Feb 20 13:29:34 2016 +0300
Fixed uninitialized memory errors in stereoBM
---
modules/calib3d/src/stereobm.cpp | 4 ++--
modules/calib3d/src/stereosgbm.cpp | 49 +++++++++++++++++++++++++++-----------
2 files changed, 37 insertions(+), 16 deletions(-)
diff --git a/modules/calib3d/src/stereobm.cpp b/modules/calib3d/src/stereobm.cpp
index e7094c6..07268b6 100644
--- a/modules/calib3d/src/stereobm.cpp
+++ b/modules/calib3d/src/stereobm.cpp
@@ -385,7 +385,7 @@ static void findStereoCorrespondenceBM_SSE2( const Mat& left, const Mat& right,
hsad = hsad0 - dy0*ndisp;
lptr_sub = lptr0 + MIN(MAX(x0, -lofs), width-1-lofs) - dy0*sstep;
lptr = lptr0 + MIN(MAX(x1, -lofs), width-1-lofs) - dy0*sstep;
- rptr = rptr0 + MIN(MAX(x1, -rofs), width-1-rofs) - dy0*sstep;
+ rptr = rptr0 + MIN(MAX(x1, -rofs), width1-1) - dy0*sstep;
for( y = -dy0; y < height + dy1; y++, cbuf += ndisp, cbuf_sub += ndisp,
hsad += ndisp, lptr += sstep, lptr_sub += sstep, rptr += sstep )
@@ -661,7 +661,7 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
hsad = hsad0 - dy0*ndisp;
lptr_sub = lptr0 + MIN(MAX(x0, -lofs), width-1-lofs) - dy0*sstep;
lptr = lptr0 + MIN(MAX(x1, -lofs), width-1-lofs) - dy0*sstep;
- rptr = rptr0 + MIN(MAX(x1, -rofs), width-1-rofs) - dy0*sstep;
+ rptr = rptr0 + MIN(MAX(x1, -rofs), width1-1) - dy0*sstep;
for( y = -dy0; y < height + dy1; y++, cbuf += ndisp, cbuf_sub += ndisp,
hsad += ndisp, lptr += sstep, lptr_sub += sstep, rptr += sstep )
diff --git a/modules/calib3d/src/stereosgbm.cpp b/modules/calib3d/src/stereosgbm.cpp
index 0166181..e27f8e4 100644
--- a/modules/calib3d/src/stereosgbm.cpp
+++ b/modules/calib3d/src/stereosgbm.cpp
@@ -114,8 +114,8 @@ static void calcPixelCostBT( const Mat& img1, const Mat& img2, int y,
int tabOfs, int )
{
int x, c, width = img1.cols, cn = img1.channels();
- int minX1 = max(-maxD, 0), maxX1 = width + min(minD, 0);
- int minX2 = max(minX1 - maxD, 0), maxX2 = min(maxX1 - minD, width);
+ int minX1 = max(-maxD, 0), maxX1 = width + min(-minD, 0);
+ int minX2 = max(minX1 + minD, 0), maxX2 = min(maxX1 + maxD, width);
int D = maxD - minD, width1 = maxX1 - minX1, width2 = maxX2 - minX2;
const PixType *row1 = img1.ptr<PixType>(y), *row2 = img2.ptr<PixType>(y);
PixType *prow1 = buffer + width2*2, *prow2 = prow1 + width*cn*2;
@@ -200,6 +200,19 @@ static void calcPixelCostBT( const Mat& img1, const Mat& img2, int y,
int u0 = min(ul, ur); u0 = min(u0, u);
int u1 = max(ul, ur); u1 = max(u1, u);
+ int minDlocal = max(minD, x-width+1);
+ int maxDlocal = min(maxD, x);
+ int d;
+ for( d = minD; d < minDlocal; d++ )
+ {
+ int v = prow2[0];
+ int v0 = buffer[0];
+ int v1 = buffer[width2];
+ int c0 = max(0, u - v1); c0 = max(c0, v0 - u);
+ int c1 = max(0, v - u1); c1 = max(c1, u0 - v);
+
+ cost[x*D + d] = (CostType)(cost[x*D+d] + (min(c0, c1) >> diff_scale));
+ }
#if CV_SSE2
if( useSIMD )
{
@@ -207,7 +220,7 @@ static void calcPixelCostBT( const Mat& img1, const Mat& img2, int y,
__m128i _u1 = _mm_set1_epi8((char)u1), z = _mm_setzero_si128();
__m128i ds = _mm_cvtsi32_si128(diff_scale);
- for( int d = minD; d < maxD; d += 16 )
+ for( ; d < maxDlocal - 15; d += 16 )
{
__m128i _v = _mm_loadu_si128((const __m128i*)(prow2 + width-x-1 + d));
__m128i _v0 = _mm_loadu_si128((const __m128i*)(buffer + width-x-1 + d));
@@ -223,19 +236,26 @@ static void calcPixelCostBT( const Mat& img1, const Mat& img2, int y,
_mm_store_si128((__m128i*)(cost + x*D + d + 8), _mm_adds_epi16(c1, _mm_srl_epi16(_mm_unpackhi_epi8(diff,z), ds)));
}
}
- else
#endif
+ for( ; d < maxDlocal; d++ )
{
- for( int d = minD; d < maxD; d++ )
- {
- int v = prow2[width-x-1 + d];
- int v0 = buffer[width-x-1 + d];
- int v1 = buffer[width-x-1 + d + width2];
- int c0 = max(0, u - v1); c0 = max(c0, v0 - u);
- int c1 = max(0, v - u1); c1 = max(c1, u0 - v);
+ int v = prow2[width-x-1 + d];
+ int v0 = buffer[width-x-1 + d];
+ int v1 = buffer[width-x-1 + d + width2];
+ int c0 = max(0, u - v1); c0 = max(c0, v0 - u);
+ int c1 = max(0, v - u1); c1 = max(c1, u0 - v);
- cost[x*D + d] = (CostType)(cost[x*D+d] + (min(c0, c1) >> diff_scale));
- }
+ cost[x*D + d] = (CostType)(cost[x*D+d] + (min(c0, c1) >> diff_scale));
+ }
+ for( ; d < maxD; d++ )
+ {
+ int v = prow2[width-1];
+ int v0 = buffer[width-1];
+ int v1 = buffer[width-1 + width2];
+ int c0 = max(0, u - v1); c0 = max(c0, v0 - u);
+ int c1 = max(0, v - u1); c1 = max(c1, u0 - v);
+
+ cost[x*D + d] = (CostType)(cost[x*D+d] + (min(c0, c1) >> diff_scale));
}
}
}
@@ -329,7 +349,7 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
int disp12MaxDiff = params.disp12MaxDiff > 0 ? params.disp12MaxDiff : 1;
int P1 = params.P1 > 0 ? params.P1 : 2, P2 = max(params.P2 > 0 ? params.P2 : 5, P1+1);
int k, width = disp1.cols, height = disp1.rows;
- int minX1 = max(-maxD, 0), maxX1 = width + min(minD, 0);
+ int minX1 = max(-maxD, 0), maxX1 = width + min(-minD, 0);
int D = maxD - minD, width1 = maxX1 - minX1;
int INVALID_DISP = minD - 1, INVALID_DISP_SCALED = INVALID_DISP*DISP_SCALE;
int SW2 = SADWindowSize.width/2, SH2 = SADWindowSize.height/2;
@@ -377,6 +397,7 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
// summary cost over different (nDirs) directions
CostType* Cbuf = (CostType*)alignPtr(buffer.data, ALIGN);
+ memset(Cbuf, 0, CSBufSize*sizeof(CostType));
CostType* Sbuf = Cbuf + CSBufSize;
CostType* hsumBuf = Sbuf + CSBufSize;
CostType* pixDiff = hsumBuf + costBufSize*hsumBufNRows;
--
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