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stereo: fix crash

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- uninitialized variable 'previous_size'
- incorrect Mat element access pattern via address arithmetic
This commit is contained in:
Alexander Alekhin
2017-12-02 17:42:23 +00:00
parent 6520dbaa22
commit b64c6e1519
3 changed files with 16 additions and 20 deletions
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17
modules/stereo/include/opencv2/stereo/matching.hpp
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@@ -366,13 +366,12 @@ namespace cv
}; };
protected: protected:
//arrays used in the region removal //arrays used in the region removal
Mat speckleY; Mat_<int> speckleY;
Mat speckleX; Mat_<int> speckleX;
Mat puss; Mat_<int> puss;
//int *specklePointX; //int *specklePointX;
//int *specklePointY; //int *specklePointY;
//long long *pus; //long long *pus;
int previous_size;
//!method for setting the maximum disparity //!method for setting the maximum disparity
void setMaxDisparity(int val) void setMaxDisparity(int val)
{ {
@@ -480,10 +479,10 @@ namespace cv
CV_Assert(currentMap.cols == out.cols); CV_Assert(currentMap.cols == out.cols);
CV_Assert(currentMap.rows == out.rows); CV_Assert(currentMap.rows == out.rows);
CV_Assert(t >= 0); CV_Assert(t >= 0);
int *pus = (int *)puss.data; CV_Assert(!puss.empty());
int *specklePointX = (int *)speckleX.data; int *specklePointX = (int *)speckleX.data;
int *specklePointY = (int *)speckleY.data; int *specklePointY = (int *)speckleY.data;
memset(pus, 0, previous_size * sizeof(pus[0])); puss.setTo(Scalar::all(0));
T *map = (T *)currentMap.data; T *map = (T *)currentMap.data;
T *outputMap = (T *)out.data; T *outputMap = (T *)out.data;
int height = currentMap.rows; int height = currentMap.rows;
@@ -511,7 +510,7 @@ namespace cv
speckle_size = dr; speckle_size = dr;
specklePointX[dr] = i; specklePointX[dr] = i;
specklePointY[dr] = j; specklePointY[dr] = j;
pus[i * width + j] = 1; puss(i, j) = 1;
dr++; dr++;
map[iw + j] = k; map[iw + j] = k;
while (st < dr) while (st < dr)
@@ -522,7 +521,7 @@ namespace cv
for (int d = 0; d < 8; d++) for (int d = 0; d < 8; d++)
{//if insisde {//if insisde
if (ii + di[d] >= 0 && ii + di[d] < height && jj + dj[d] >= 0 && jj + dj[d] < width && if (ii + di[d] >= 0 && ii + di[d] < height && jj + dj[d] >= 0 && jj + dj[d] < width &&
pus[(ii + di[d]) * width + jj + dj[d]] == 0) puss(ii + di[d], jj + dj[d]) == 0)
{ {
T val = map[(ii + di[d]) * width + jj + dj[d]]; T val = map[(ii + di[d]) * width + jj + dj[d]];
if (val == 0) if (val == 0)
@@ -531,7 +530,7 @@ namespace cv
specklePointX[dr] = (ii + di[d]); specklePointX[dr] = (ii + di[d]);
specklePointY[dr] = (jj + dj[d]); specklePointY[dr] = (jj + dj[d]);
dr++; dr++;
pus[(ii + di[d]) * width + jj + dj[d]] = 1; puss(ii + di[d], jj + dj[d]) = 1;
}//this means that my point is a good point to be used in computing the final filling value }//this means that my point is a good point to be used in computing the final filling value
else if (val >= 1 && val < 250) else if (val >= 1 && val < 250)
{ {

10
modules/stereo/src/stereo_binary_bm.cpp
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@@ -275,7 +275,6 @@ namespace cv
StereoBinaryBMImpl(int _numDisparities, int _kernelSize) : Matching(_numDisparities) StereoBinaryBMImpl(int _numDisparities, int _kernelSize) : Matching(_numDisparities)
{ {
params = StereoBinaryBMParams(_numDisparities, _kernelSize); params = StereoBinaryBMParams(_numDisparities, _kernelSize);
previous_size = 0;
} }
void compute(InputArray leftarr, InputArray rightarr, OutputArray disparr) void compute(InputArray leftarr, InputArray rightarr, OutputArray disparr)
@@ -322,12 +321,11 @@ namespace cv
int width = left0.cols; int width = left0.cols;
int height = left0.rows; int height = left0.rows;
if(previous_size != width * height) if (puss.total() != (size_t)width * height)
{ {
previous_size = width * height; speckleX.create(height, width);
speckleX.create(height,width,CV_32SC4); speckleY.create(height, width);
speckleY.create(height,width,CV_32SC4); puss.create(height, width);
puss.create(height,width,CV_32SC4);
censusImage[0].create(left0.rows,left0.cols,CV_32SC4); censusImage[0].create(left0.rows,left0.cols,CV_32SC4);
censusImage[1].create(left0.rows,left0.cols,CV_32SC4); censusImage[1].create(left0.rows,left0.cols,CV_32SC4);

9
modules/stereo/src/stereo_binary_sgbm.cpp
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@@ -692,12 +692,11 @@ namespace cv
{ {
int width = left.cols; int width = left.cols;
int height = left.rows; int height = left.rows;
if(previous_size != width * height) if (puss.total() != (size_t)width * height)
{ {
previous_size = width * height; speckleX.create(height, width);
speckleX.create(height,width,CV_32SC4); speckleY.create(height, width);
speckleY.create(height,width,CV_32SC4); puss.create(height, width);
puss.create(height,width,CV_32SC4);
} }
Mat aux; Mat aux;
aux.create(height,width,CV_16S); aux.create(height,width,CV_16S);