version 4.5.1 findFundamentalMat Magsac algorithm SegmentFault across platforms on specific keypoint input #19639
Description
System information (version)
- OpenCV => 4.5.1
- Operating System / Platform => both on ubuntu 18.04 and macbook catalina
- Compiler => installed using pip
Detailed description
Magsac in cv2.findFundamentalMat() crashes on a specific pair of input points
Steps to reproduce
>>> import cv2
>>> cv2.__version__
'4.5.1'
>>> import numpy as np
>>> x = np.array([[941, 890],
... [596, 940],
... [898, 941],
... [894, 933],
... [586, 938],
... [902, 933],
... [887, 935]])
>>> y = np.array([[1416, 806],
... [1157, 852],
... [1380, 855],
... [1378, 843],
... [1145, 849],
... [1378, 843],
... [1378, 843]])
>>> cv2.findFundamentalMat(x, y, cv2.USAC_MAGSAC, 3, 0.99)
Python .py code
import numpy as np
import cv2 as cv
x = np.array([[941, 890],
[596, 940],
[898, 941],
[894, 933],
[586, 938],
[902, 933],
[887, 935]])
y = np.array([[1416, 806],
[1157, 852],
[1380, 855],
[1378, 843],
[1145, 849],
[1378, 843],
[1378, 843]])
res = cv.findFundamentalMat(x, y, cv.USAC_MAGSAC, 3, 0.99)
print(res)