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85507a6c65
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com> Co-authored-by: Jade <spacey-sooty@proton.me> Co-authored-by: Matthew Morley <matthew.morley.ca@gmail.com>
71 lines
3.2 KiB
Diff
71 lines
3.2 KiB
Diff
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
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From: Matt <matthew.morley.ca@gmail.com>
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Date: Thu, 5 Dec 2024 00:10:15 -0500
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Subject: [PATCH 8/8] Fix UB in mrcal
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---
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mrcal.cpp | 27 ++++++++++++++++-----------
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1 file changed, 16 insertions(+), 11 deletions(-)
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diff --git a/mrcal.cpp b/mrcal.cpp
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index d4a2415a5730a48671b2716960bc343cdbd01295..0b7263f58164bfe9f42447741a08366262195f7c 100644
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--- a/mrcal.cpp
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+++ b/mrcal.cpp
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@@ -4582,7 +4582,6 @@ void optimizer_callback(// input state
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// Construct the FULL intrinsics vector, based on either the
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// optimization vector or the inputs, depending on what we're optimizing
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double* intrinsics_here = &intrinsics_all[icam_intrinsics][0];
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- double* distortions_here = &intrinsics_all[icam_intrinsics][Ncore];
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int i_var_intrinsics =
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mrcal_state_index_intrinsics(icam_intrinsics,
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@@ -4604,15 +4603,20 @@ void optimizer_callback(// input state
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&ctx->intrinsics[ctx->Nintrinsics*icam_intrinsics],
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Ncore*sizeof(double) );
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}
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- if( ctx->problem_selections.do_optimize_intrinsics_distortions )
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- {
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- for(int i = 0; i<ctx->Nintrinsics-Ncore; i++)
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- distortions_here[i] = packed_state[i_var_intrinsics++] * SCALE_DISTORTION;
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+ int nDistortion = ctx->Nintrinsics-Ncore;
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+ if (nDistortion) {
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+ double* distortions_here = &intrinsics_all[icam_intrinsics][Ncore];
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+ if( ctx->problem_selections.do_optimize_intrinsics_distortions )
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+ {
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+ for(int i = 0; i<ctx->Nintrinsics-Ncore; i++)
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+ distortions_here[i] = packed_state[i_var_intrinsics++] * SCALE_DISTORTION;
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+ }
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+ else {
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+ memcpy( distortions_here,
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+ &ctx->intrinsics[ctx->Nintrinsics*icam_intrinsics + Ncore],
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+ (ctx->Nintrinsics-Ncore)*sizeof(double) );
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+ }
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}
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- else
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- memcpy( distortions_here,
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- &ctx->intrinsics[ctx->Nintrinsics*icam_intrinsics + Ncore],
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- (ctx->Nintrinsics-Ncore)*sizeof(double) );
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}
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for(int icam_extrinsics=0;
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icam_extrinsics<ctx->Ncameras_extrinsics;
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@@ -4699,6 +4703,7 @@ void optimizer_callback(// input state
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int splined_intrinsics_grad_irun = 0;
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+ bool camera_at_identity = icam_extrinsics < 0;
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project(q_hypothesis.data(),
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ctx->problem_selections.do_optimize_intrinsics_core || ctx->problem_selections.do_optimize_intrinsics_distortions ?
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@@ -4720,9 +4725,9 @@ void optimizer_callback(// input state
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// input
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intrinsics_all[icam_intrinsics].data(),
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- &camera_rt[icam_extrinsics], &frame_rt,
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+ camera_at_identity ? NULL : &camera_rt[icam_extrinsics], &frame_rt,
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ctx->calobject_warp == NULL ? NULL : &calobject_warp_local,
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- icam_extrinsics < 0,
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+ camera_at_identity,
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&ctx->lensmodel, &ctx->precomputed,
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ctx->calibration_object_spacing,
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ctx->calibration_object_width_n,
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