USAC fix: GraphCut fails to allocate big dense matrices#23073
Merged
asmorkalov merged 1 commit intoopencv:4.xfrom Jan 20, 2023
Merged
USAC fix: GraphCut fails to allocate big dense matrices#23073asmorkalov merged 1 commit intoopencv:4.xfrom
asmorkalov merged 1 commit intoopencv:4.xfrom
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Add `estimateSE2(...)`, `estimateSE3(...)`, `estimateSIM2(...)`, `estimateSIM3(...)` for estimating an geometric transformation with rotation and translation (with scaling for SIM) using USAC: as alternative for `estimateAffinePartial2D` and `estimateAffine3D`. Modified test module. Remove unused variables. Remove initializer of unused variable. Add interfaces to accept UsacParams() and corresponding test codes. Revise test code. PartialNd removed Umeyama rewritten for code quality & speed comments & minors rise number of points fix, and +30% faster! only one number should be that big remove USAC code, leave fix only big number
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vpisarev
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Jan 20, 2023
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TODO:
Bug description
The bug arises in #22884 when setting a number of points to numbers like 60000 and bigger.
For N samples GraphCut tries to allocate an edge connectivity matrix of size NxN and segfaults on big numbers, see here.
Changes
The solution is to use
std::set<int>instead ofstd::vector<bool>.Despite theoretically longer read/write time, like O(log N) vs O(1), I've got +30% performance on my machine, probably because of CPU caching.
The bug reproducer is just a
usac_testUsacParams.accuracytest with biggerpts_size.Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
Patch to opencv_extra has the same branch name.