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Fix illegal memory access for flattened poses #80

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Fix illegal memory access for flattened poses #80

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16 changes: 8 additions & 8 deletions ...os_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_sampling.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -817,14 +817,6 @@ gxf_result_t FoundationposeSampling::tick() noexcept {
m.block<3, 1>(0, 3) = center;
}

// Flatten vector of eigen matrix into vector to make the memory continuous
std::vector<float> ob_in_cams_vector;
ob_in_cams_vector.reserve(ob_in_cams.size() * ob_in_cams[0].size());
for (auto& mat : ob_in_cams) {
std::vector<float> mat_data(mat.data(), mat.data() + mat.size());
ob_in_cams_vector.insert(ob_in_cams_vector.end(), mat_data.begin(), mat_data.end());
}

// Add padding to the last batch to make the size divisible by kNumBatches
auto remainder = ob_in_cams.size() % kNumBatches;
auto padding_size = remainder == 0 ? 0 : kNumBatches - remainder;
Expand All @@ -838,6 +830,14 @@ gxf_result_t FoundationposeSampling::tick() noexcept {
}
}

// Flatten vector of eigen matrix into vector to make the memory continuous
std::vector<float> ob_in_cams_vector;
ob_in_cams_vector.reserve(ob_in_cams.size() * ob_in_cams[0].size());
for (auto& mat : ob_in_cams) {
std::vector<float> mat_data(mat.data(), mat.data() + mat.size());
ob_in_cams_vector.insert(ob_in_cams_vector.end(), mat_data.begin(), mat_data.end());
}

int batch_size = ob_in_cams.size() / kNumBatches;
for (int i = 0; i < kNumBatches; i++) {
// Allocate output message
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