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fixed segfault at ORB::compute() near image's border

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This commit is contained in:
Rostislav Vasilikhin 2016-12-14 12:55:00 +03:00 committed by Alexander Alekhin
parent 53f72f18f5
commit 13b9dd3963
2 changed files with 36 additions and 1 deletions
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4
modules/features2d/src/orb.cpp
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@ -970,7 +970,9 @@ void ORB_Impl::detectAndCompute( InputArray _image, InputArray _mask,
//ROI handling
const int HARRIS_BLOCK_SIZE = 9;
int halfPatchSize = patchSize / 2;
int border = std::max(edgeThreshold, std::max(halfPatchSize, HARRIS_BLOCK_SIZE/2))+1;
// sqrt(2.0) is for handling patch rotation
int descPatchSize = cvCeil(halfPatchSize*sqrt(2.0));
int border = std::max(edgeThreshold, std::max(descPatchSize, HARRIS_BLOCK_SIZE/2))+1;
bool useOCL = ocl::useOpenCL() && OCL_FORCE_CHECK(_image.isUMat() || _descriptors.isUMat());

33
modules/features2d/test/test_orb.cpp
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@ -90,3 +90,36 @@ TEST(Features2D_ORB, _1996)
ASSERT_EQ(0, roiViolations);
}
TEST(Features2D_ORB, crash)
{
cv::Mat image = cv::Mat::zeros(cv::Size(1920, 1080), CV_8UC3);
int nfeatures = 8000;
float orbScaleFactor = 1.2f;
int nlevels = 18;
int edgeThreshold = 4;
int firstLevel = 0;
int WTA_K = 2;
int scoreType = cv::ORB::HARRIS_SCORE;
int patchSize = 47;
int fastThreshold = 20;
Ptr<ORB> orb = cv::ORB::create(nfeatures, orbScaleFactor, nlevels, edgeThreshold, firstLevel, WTA_K, scoreType, patchSize, fastThreshold);
std::vector<cv::KeyPoint> keypoints;
cv::Mat descriptors;
cv::KeyPoint kp;
kp.pt.x = 443;
kp.pt.y = 5;
kp.size = 47;
kp.angle = 53.4580612f;
kp.response = 0.0000470733867f;
kp.octave = 0;
kp.class_id = -1;
keypoints.push_back(kp);
ASSERT_NO_THROW(orb->compute(image, keypoints, descriptors));
}