Fix intrinsics processing in case USAC parameters#21166
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alalek merged 2 commits intoopencv:4.xfrom Dec 13, 2021
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Thank you!
Please add simple regression tests case based on code from the issue.
modules/calib3d/src/usac/utils.cpp
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| void Utils::calibratePoints (const Mat &K1, const Mat &K2, const Mat &points, Mat &calib_points) { | ||
| const auto * const points_ = (float *) points.data; | ||
| const auto * const k1 = (double *) K1.data; | ||
| const auto * const k1 = K1.isContinuous() ? (double *) K1.data : (double *) K1.clone().data; |
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K1.clone().data
Don't use dangling pointers.
This expression creates temporary object which is disposed before the next line.
To declare assumptions of this code we should have several checks:
CV_Assert(K1.isContinuous());CV_CheckDepthEQ(K1.depth(), CV_32F, "");due to assumption(double *) K1.dataCV_CheckEQ(K1.total(), (size_t)9, "");- and similar for other types.
To avoid such "void" interface checks it is better to use const Matx33d& K1 parameters in internal API.
.clone() should be done by caller function of this function (or convert to Matx33d).
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Fix intrinsics processing in case USAC parameters * fixed USAC intrinsics processing * change mat to matx33d, added test
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fixes #21105
relates #17683
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Patch to opencv_extra has the same branch name.