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Fix memory access out of bounds #70

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Fix memory access out of bounds #70

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e9a16f0
Fix memory access out of bounds
wcf1065948474 Sep 21, 2022
647a9a7
Fixe memory access out of bounds
wcf1065948474 Sep 22, 2022
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6 changes: 4 additions & 2 deletions src/preprocess_kernels.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -146,6 +146,8 @@ __global__ void generateBaseFeatures_kernel(unsigned int *mask, float *voxels,
unsigned int current_pillarId = 0;
current_pillarId = atomicAdd(pillar_num, 1);

if( current_pillarId >= MAX_VOXELS ) return;

voxel_num[current_pillarId] = count;

uint4 idx = {0, 0, voxel_idy, voxel_idx};
Expand Down Expand Up @@ -194,10 +196,10 @@ __global__ void generateFeatures_kernel(float* voxel_features,
int pillar_idx = blockIdx.x * WARPS_PER_BLOCK + threadIdx.x/WARP_SIZE;
int point_idx = threadIdx.x % WARP_SIZE;

int pillar_idx_inBlock = threadIdx.x/32;
int pillar_idx_inBlock = threadIdx.x/WARP_SIZE;
unsigned int num_pillars = params[0];

if (pillar_idx >= num_pillars) return;
if (pillar_idx >= num_pillars || pillar_idx >= MAX_VOXELS) return;

__shared__ float4 pillarSM[WARPS_PER_BLOCK][WARP_SIZE];
__shared__ float4 pillarSumSM[WARPS_PER_BLOCK];
Expand Down