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Lazizbek Ergashev
969317b9fd
ptcloud: fix NaN bypass in TSDF volume integration bounds check - #29766 Fixes #29763. A singular or near-singular `cameraPose` makes `Matx44f::inv()` return NaN. That NaN reaches the SIMD bounds check in `integrateTsdfVolumeUnit()`, which rejects out-of-range pixels by ORing `v_lt(pt, 0)` with `v_ge(pt, upLimits)`. Under IEEE 754 both comparisons return false for NaN, so the check lets it through silently. `v_floor(NaN)` then produces an indefinite integer value (`INT_MIN` on x86), and the resulting row/column index reads out of bounds in `v_load_low()`. Added `v_not_nan()` to the mask so a NaN lane is always treated as out of range, matching the NaN-guard idiom already used elsewhere in OpenCV (e.g. `bilateral_filter.simd.hpp`). The scalar fallback of the same function goes through `bilinearDepth()` in `tsdf_functions.hpp`, which had the identical gap (`pt.x < 0 || pt.x >= ...` also can't catch NaN), so that's covered too. Added a regression test using the singular pose from the issue's reproducer; note it can only confirm no voxel gets corrupted, not the crash itself, since that needs ASan on x86 to reproduce reliably. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch (`5.x`, `ptcloud` doesn't exist on `4.x`) - [x] There is a reference to the original bug report and related work (#29763) - [x] There is an accuracy test (`Volume.issue_29763`), self-contained (no `opencv_extra` test data needed); not applicable: performance test (not a perf-sensitive change) - [x] N/A: this is a bug fix, not a new feature -- no new public API or documentation needed