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Modification needed to prevent an out-of-bounds memory access condition #1263

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merged 1 commit into from
Oct 14, 2015
Merged

Modification needed to prevent an out-of-bounds memory access condition #1263

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16 changes: 9 additions & 7 deletions gpu/kinfu_large_scale/src/cuda/extract.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -239,13 +239,14 @@ namespace pcl
storage_Z[storage_index + offset + l] = points[l].z;
}

PointType *pos = output_xyz.data + old_global_count + lane;
for (int idx = lane; idx < total_warp; idx += Warp::STRIDE, pos += Warp::STRIDE)
int offset_storage = old_global_count + lane;
for (int idx = lane; idx < total_warp; idx += Warp::STRIDE, offset_storage += Warp::STRIDE)
{
if (offset_storage >= output_xyz.size) break;
float x = storage_X[storage_index + idx];
float y = storage_Y[storage_index + idx];
float z = storage_Z[storage_index + idx];
store_point_type (x, y, z, pos);
store_point_type (x, y, z, output_xyz.data, offset_storage);
}

bool full = (old_global_count + total_warp) >= output_xyz.size;
Expand Down Expand Up @@ -352,6 +353,7 @@ namespace pcl
int offset_storage = old_global_count + lane;
for (int idx = lane; idx < total_warp; idx += Warp::STRIDE, offset_storage += Warp::STRIDE)
{
if (offset_storage >= output_xyz.size) break;
float x = storage_X[storage_index + idx];
float y = storage_Y[storage_index + idx];
float z = storage_Z[storage_index + idx];
Expand Down Expand Up @@ -386,9 +388,9 @@ namespace pcl
} /* operator() */

__device__ __forceinline__ void
store_point_type (float x, float y, float z, float4* ptr) const
store_point_type (float x, float y, float z, float4* ptr, int offset) const
{
*ptr = make_float4 (x, y, z, 0);
*(ptr + offset) = make_float4 (x, y, z, 0);
}

//INLINE FUNCTION THAT STORES XYZ AND INTENSITY VALUES IN 2 SEPARATE DeviceArrays.
Expand All @@ -403,9 +405,9 @@ namespace pcl
}

__device__ __forceinline__ void
store_point_type (float x, float y, float z, float3* ptr) const
store_point_type (float x, float y, float z, float3* ptr, int offset) const
{
*ptr = make_float3 (x, y, z);
*(ptr + offset) = make_float3 (x, y, z);
}
};

Expand Down