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cudastereo: avoid overflow in StereoSGM aggregate buffer layout #4236

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cudastereo: avoid overflow in StereoSGM aggregate buffer layout #4236

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10 changes: 4 additions & 6 deletions modules/cudastereo/src/cuda/stereosgm.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -1342,11 +1342,11 @@ void PathAggregation::operator() (const GpuMat& left, const GpuMat& right, GpuMa

const Size size = left.size();
const int buffer_step = size.width * size.height * static_cast<int>(MAX_DISPARITY);
CV_Assert(dest.rows == 1 && buffer_step * num_paths == dest.cols);
CV_Assert(dest.rows == num_paths && dest.cols == buffer_step);

for (int i = 0; i < num_paths; ++i)
{
subs[i] = dest.colRange(i * buffer_step, (i + 1) * buffer_step);
subs[i] = dest.row(i);
}

vertical::aggregateUp2DownPath<MAX_DISPARITY>(left, right, subs[0], p1, p2, min_disp, streams[0]);
Expand Down Expand Up @@ -1447,12 +1447,10 @@ __global__ void winner_takes_all_kernel(
? REDUCTION_PER_THREAD
: ACCUMULATION_INTERVAL;

const unsigned int cost_step = MAX_DISPARITY * width * height;
const unsigned int warp_id = cudev::Warp::warpId();
const unsigned int lane_id = cudev::Warp::laneId();

const unsigned int y = blockIdx.x * WARPS_PER_BLOCK + warp_id;
const PtrStep<uint8_t> src{ (uint8_t*)&_src(0, y * MAX_DISPARITY * width), height * width * MAX_DISPARITY * NUM_PATHS };
PtrStep<int16_t> left_dest{ _left_dest.ptr(y), _left_dest.step };
PtrStep<int16_t> right_dest{ _right_dest.ptr(y), _right_dest.step };

Expand Down Expand Up @@ -1492,7 +1490,7 @@ __global__ void winner_takes_all_kernel(
{
uint32_t load_buffer[ACCUMULATION_PER_THREAD];
load_uint8_vector<ACCUMULATION_PER_THREAD>(
load_buffer, &src(0, p * cost_step + offset));
load_buffer, &_src(p, y * MAX_DISPARITY * width + offset));
for (unsigned int i = 0; i < ACCUMULATION_PER_THREAD; ++i)
{
sum[i] += load_buffer[i];
Expand Down Expand Up @@ -1583,7 +1581,7 @@ void winnerTakesAll(const GpuMat& src, GpuMat& left, GpuMat& right, float unique
{
cv::Size size = left.size();
int num_paths = mode == StereoSGBM::MODE_HH4 ? 4 : 8;
CV_Assert(src.rows == 1 && src.cols == size.width * size.height * static_cast<int>(MAX_DISPARITY) * num_paths);
CV_Assert(src.rows == num_paths && src.cols == size.width * size.height * static_cast<int>(MAX_DISPARITY));
CV_Assert(size == right.size());
CV_Assert(left.type() == right.type());
CV_Assert(src.type() == CV_8UC1);
Expand Down
2 changes: 1 addition & 1 deletion modules/cudastereo/src/stereosgm.cpp
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Expand Up @@ -116,7 +116,7 @@ void StereoSGMImpl::compute(InputArray _left, InputArray _right, OutputArray _di
census_transform::censusTransform(left, censused_left, _stream);
census_transform::censusTransform(right, censused_right, _stream);

ensureSizeIsEnough(1, size.width * size.height * params.numDisparities * num_paths, CV_8UC1, aggregated);
ensureSizeIsEnough(num_paths, size.width * size.height * params.numDisparities, CV_8UC1, aggregated);
ensureSizeIsEnough(size, CV_16SC1, left_disp_tmp);
ensureSizeIsEnough(size, CV_16SC1, right_disp_tmp);

Expand Down
7 changes: 3 additions & 4 deletions modules/cudastereo/test/test_sgm_funcs.cpp
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Expand Up @@ -359,9 +359,8 @@ namespace opencv_test { namespace {
for (int k = 0; k < disparity; ++k) {
int cost_sum = 0;
for (int p = 0; p < num_paths; ++p) {
cost_sum += static_cast<int>(src.at<uint8_t>(0,
p * disparity * width * height +
i * disparity * width +
cost_sum += static_cast<int>(src.at<uint8_t>(p,
i * disparity * width +
j * disparity +
k));
}
Expand Down Expand Up @@ -418,7 +417,7 @@ namespace opencv_test { namespace {
CUDA_TEST_P(StereoSGM_WinnerTakesAll, RandomLeft)
{
int num_paths = mode == cv::cuda::StereoSGM::MODE_HH4 ? 4 : 8;
cv::Mat aggregated = randomMat(cv::Size(size.width * size.height * DISPARITY * num_paths, 1), CV_8UC1, 0.0, 32.0);
cv::Mat aggregated = randomMat(cv::Size(size.width * size.height * DISPARITY, num_paths), CV_8UC1, 0.0, 32.0);
cv::Mat dst_gold;
winner_takes_all_left(aggregated, dst_gold, size.width, size.height, DISPARITY, num_paths, 0.95f, subpixel);

Expand Down
37 changes: 37 additions & 0 deletions modules/cudastereo/test/test_stereo.cpp
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Expand Up @@ -1135,5 +1135,42 @@ INSTANTIATE_TEST_CASE_P(CUDA_Stereo, StereoSGM_NonAligned, testing::Combine(
testing::Values(cv::Size(648, 488), cv::Size(320, 248)),
testing::Values(cv::cuda::StereoSGM::MODE_HH4, cv::cuda::StereoSGM::MODE_HH)));

PARAM_TEST_CASE(StereoSGM_AggregatedBufferLayout, cv::cuda::DeviceInfo, cv::Size)
{
cv::cuda::DeviceInfo devInfo;
cv::Size size;

virtual void SetUp()
{
devInfo = GET_PARAM(0);
size = GET_PARAM(1);
cv::cuda::setDevice(devInfo.deviceID());
}
};

CUDA_TEST_P(StereoSGM_AggregatedBufferLayout, MaxDisparityHH)
{
cv::Mat left_cpu(size, CV_8UC1);
cv::Mat right_cpu(size, CV_8UC1);
cv::RNG& rng = cv::theRNG();
rng.fill(left_cpu, cv::RNG::UNIFORM, 0, 256);
rng.fill(right_cpu, cv::RNG::UNIFORM, 0, 256);

cv::cuda::GpuMat d_left, d_right, d_disp;
d_left.upload(left_cpu);
d_right.upload(right_cpu);

cv::Ptr<cv::StereoMatcher> sgm = cv::cuda::createStereoSGM(
0, 256, 10, 120, 5, cv::cuda::StereoSGM::MODE_HH);
sgm->compute(d_left, d_right, d_disp);

EXPECT_EQ(d_disp.size(), size);
EXPECT_EQ(d_disp.type(), CV_16SC1);
}

INSTANTIATE_TEST_CASE_P(CUDA_Stereo, StereoSGM_AggregatedBufferLayout, testing::Combine(
ALL_DEVICES,
testing::Values(cv::Size(320, 32))));

}} // namespace
#endif // HAVE_CUDA