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Merge pull request #19640 from alalek:issue_19639

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calib3d(usac): do not crash on empty models

* calib3d(test): regression test for issue 19639

* calib3d(usac): do not crash in setModelParameters()

* calib3d(usac): handle empty models in isModelGood()
This commit is contained in:
Alexander Alekhin 2021-03-01 00:39:30 +03:00 committed by GitHub
parent e0265c67c6
commit f70e80a6ba
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 75 additions and 11 deletions
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37
modules/calib3d/src/usac/estimator.cpp
View File

@ -236,13 +236,18 @@ public:
CV_DbgAssert(points);
}
inline void setModelParameters (const Mat &model) override {
inline void setModelParameters(const Mat& model) override
{
CV_Assert(!model.empty());
CV_CheckTypeEQ(model.depth(), CV_64F, "");
const auto * const m = (double *) model.data;
m11=static_cast<float>(m[0]); m12=static_cast<float>(m[1]); m13=static_cast<float>(m[2]);
m21=static_cast<float>(m[3]); m22=static_cast<float>(m[4]); m23=static_cast<float>(m[5]);
m31=static_cast<float>(m[6]); m32=static_cast<float>(m[7]); m33=static_cast<float>(m[8]);
const Mat model_inv = model.inv();
CV_CheckTypeEQ(model_inv.depth(), CV_64F, "");
const auto * const minv = (double *) model_inv.data;
minv11=(float)minv[0]; minv12=(float)minv[1]; minv13=(float)minv[2];
minv21=(float)minv[3]; minv22=(float)minv[4]; minv23=(float)minv[5];
@ -299,7 +304,11 @@ public:
CV_DbgAssert(points);
}
inline void setModelParameters (const Mat &model) override {
inline void setModelParameters(const Mat& model) override
{
CV_Assert(!model.empty());
CV_CheckTypeEQ(model.depth(), CV_64F, "");
const auto * const m = (double *) model.data;
m11=static_cast<float>(m[0]); m12=static_cast<float>(m[1]); m13=static_cast<float>(m[2]);
m21=static_cast<float>(m[3]); m22=static_cast<float>(m[4]); m23=static_cast<float>(m[5]);
@ -349,7 +358,11 @@ public:
CV_DbgAssert(points);
}
inline void setModelParameters (const Mat &model) override {
inline void setModelParameters(const Mat& model) override
{
CV_Assert(!model.empty());
CV_CheckTypeEQ(model.depth(), CV_64F, "");
const auto * const m = (double *) model.data;
m11=static_cast<float>(m[0]); m12=static_cast<float>(m[1]); m13=static_cast<float>(m[2]);
m21=static_cast<float>(m[3]); m22=static_cast<float>(m[4]); m23=static_cast<float>(m[5]);
@ -416,7 +429,11 @@ public:
CV_DbgAssert(points);
}
inline void setModelParameters (const Mat &model) override {
inline void setModelParameters(const Mat& model) override
{
CV_Assert(!model.empty());
CV_CheckTypeEQ(model.depth(), CV_64F, "");
const auto * const m = (double *) model.data;
m11=static_cast<float>(m[0]); m12=static_cast<float>(m[1]); m13=static_cast<float>(m[2]);
m21=static_cast<float>(m[3]); m22=static_cast<float>(m[4]); m23=static_cast<float>(m[5]);
@ -476,7 +493,11 @@ public:
}
inline void setModelParameters (const Mat &model) override {
inline void setModelParameters (const Mat& model) override
{
CV_Assert(!model.empty());
CV_CheckTypeEQ(model.depth(), CV_64F, "");
const auto * const p = (double *) model.data;
p11 = (float)p[0]; p12 = (float)p[1]; p13 = (float)p[2]; p14 = (float)p[3];
p21 = (float)p[4]; p22 = (float)p[5]; p23 = (float)p[6]; p24 = (float)p[7];
@ -535,7 +556,11 @@ public:
CV_DbgAssert(points);
}
inline void setModelParameters (const Mat &model) override {
inline void setModelParameters(const Mat& model) override
{
CV_Assert(!model.empty());
CV_CheckTypeEQ(model.depth(), CV_64F, "");
const auto * const m = (double *) model.data;
m11 = (float)m[0]; m12 = (float)m[1]; m13 = (float)m[2];
m21 = (float)m[3]; m22 = (float)m[4]; m23 = (float)m[5];

6
modules/calib3d/src/usac/quality.cpp
View File

@ -421,7 +421,11 @@ public:
* @current_hypothesis: current RANSAC iteration
* Return: true if model is good, false - otherwise.
*/
inline bool isModelGood (const Mat &model) override {
inline bool isModelGood(const Mat& model) override
{
if (model.empty())
return false;
// update error object with current model
err->setModelParameters(model);

41
modules/calib3d/test/test_usac.cpp
View File

@ -4,7 +4,8 @@
#include "test_precomp.hpp"
namespace opencv_test {
namespace opencv_test { namespace {
enum TestSolver { Homogr, Fundam, Essen, PnP, Affine};
/*
* rng -- reference to random generator
@ -264,7 +265,40 @@ TEST(usac_Fundamental, accuracy) {
int(max_iters), mask);
checkInliersMask(TestSolver::Fundam, inl_size, thr, pts1, pts2, F, mask);
}
}}
}
}
TEST(usac_Fundamental, regression_19639)
{
double x_[] = {
941, 890,
596, 940,
898, 941,
894, 933,
586, 938,
902, 933,
887, 935
};
Mat x(7, 1, CV_64FC2, x_);
double y_[] = {
1416, 806,
1157, 852,
1380, 855,
1378, 843,
1145, 849,
1378, 843,
1378, 843
};
Mat y(7, 1, CV_64FC2, y_);
//std::cout << x << std::endl;
//std::cout << y << std::endl;
Mat m = cv::findFundamentalMat(x, y, USAC_MAGSAC, 3, 0.99);
EXPECT_TRUE(m.empty());
}
TEST(usac_Essential, accuracy) {
std::vector<int> gt_inliers;
@ -405,4 +439,5 @@ TEST(usac_testUsacParams, accuracy) {
checkInliersMask(TestSolver::Homogr, inl_size, usac_params.threshold, pts1, pts2, model, mask);
}
}
}} // namespace