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Fixed crash when computing homographies (std::vector() out of bound error)

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This commit is contained in:
matlabbe 2016-01-17 11:26:12 -05:00
parent 6dc66d5730
commit c6ee7a27ef
2 changed files with 15 additions and 3 deletions
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2
app/TcpServerPool.h
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@ -76,7 +76,6 @@ class TcpServerPool : public QObject
Q_OBJECT; Q_OBJECT;
public: public:
TcpServerPool(find_object::FindObject * sharedFindObject, int threads, int port) : TcpServerPool(find_object::FindObject * sharedFindObject, int threads, int port) :
sharedFindObject_(sharedFindObject),
sharedSemaphore_(threads) sharedSemaphore_(threads)
{ {
UASSERT(sharedFindObject != 0); UASSERT(sharedFindObject != 0);
@ -120,7 +119,6 @@ public:
} }
private: private:
find_object::FindObject * sharedFindObject_;
QVector<QThread*> threadPool_; QVector<QThread*> threadPool_;
QSemaphore sharedSemaphore_; QSemaphore sharedSemaphore_;
}; };

16
src/FindObject.cpp
View File

@ -1145,6 +1145,7 @@ protected:
indexesA_.resize(matches_->size()); indexesA_.resize(matches_->size());
indexesB_.resize(matches_->size()); indexesB_.resize(matches_->size());
UDEBUG("Fill matches...");
int j=0; int j=0;
for(QMultiMap<int, int>::const_iterator iter = matches_->begin(); iter!=matches_->end(); ++iter) for(QMultiMap<int, int>::const_iterator iter = matches_->begin(); iter!=matches_->end(); ++iter)
{ {
@ -1171,6 +1172,7 @@ protected:
} }
if(imageA.size() == imageB.size()) if(imageA.size() == imageB.size())
{ {
UDEBUG("Optical flow...");
//refine matches //refine matches
std::vector<unsigned char> status; std::vector<unsigned char> status;
std::vector<float> err; std::vector<float> err;
@ -1192,15 +1194,18 @@ protected:
} }
} }
UDEBUG("Find homography... begin");
h_ = findHomography(mpts_1, h_ = findHomography(mpts_1,
mpts_2, mpts_2,
Settings::getHomographyMethod(), Settings::getHomographyMethod(),
Settings::getHomography_ransacReprojThr(), Settings::getHomography_ransacReprojThr(),
outlierMask_); outlierMask_);
UDEBUG("Find homography... end");
UASSERT(outlierMask_.size() == 0 || outlierMask_.size() == mpts_1.size());
for(unsigned int k=0; k<mpts_1.size();++k) for(unsigned int k=0; k<mpts_1.size();++k)
{ {
if(outlierMask_.at(k)) if(outlierMask_.size() && outlierMask_.at(k))
{ {
inliers_.insert(indexesA_[k], indexesB_[k]); inliers_.insert(indexesA_[k], indexesB_[k]);
} }
@ -1505,11 +1510,15 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
QList<QMultiMap<int, int> > matchesList = info.matches_.values(); QList<QMultiMap<int, int> > matchesList = info.matches_.values();
for(int i=0; i<matchesList.size(); i+=threadCounts) for(int i=0; i<matchesList.size(); i+=threadCounts)
{ {
UDEBUG("Processing matches %d/%d", i+1, matchesList.size());
QVector<HomographyThread*> threads; QVector<HomographyThread*> threads;
UDEBUG("Creating/Starting homography threads (%d)...", threadCounts);
for(int k=i; k<i+threadCounts && k<matchesList.size(); ++k) for(int k=i; k<i+threadCounts && k<matchesList.size(); ++k)
{ {
int objectId = matchesId[k]; int objectId = matchesId[k];
UASSERT(objects_.contains(objectId));
threads.push_back(new HomographyThread( threads.push_back(new HomographyThread(
&matchesList[k], &matchesList[k],
objectId, objectId,
@ -1519,10 +1528,12 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
grayscaleImg)); grayscaleImg));
threads.back()->start(); threads.back()->start();
} }
UDEBUG("Started homography threads");
for(int j=0; j<threads.size(); ++j) for(int j=0; j<threads.size(); ++j)
{ {
threads[j]->wait(); threads[j]->wait();
UDEBUG("Processing results of homography thread %d", j);
int id = threads[j]->getObjectId(); int id = threads[j]->getObjectId();
QTransform hTransform; QTransform hTransform;
@ -1539,6 +1550,7 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
if(code == DetectionInfo::kRejectedUndef) if(code == DetectionInfo::kRejectedUndef)
{ {
const cv::Mat & H = threads[j]->getHomography(); const cv::Mat & H = threads[j]->getHomography();
UASSERT(H.cols == 3 && H.rows == 3 && H.type()==CV_64FC1);
hTransform = QTransform( hTransform = QTransform(
H.at<double>(0,0), H.at<double>(1,0), H.at<double>(2,0), H.at<double>(0,0), H.at<double>(1,0), H.at<double>(2,0),
H.at<double>(0,1), H.at<double>(1,1), H.at<double>(2,1), H.at<double>(0,1), H.at<double>(1,1), H.at<double>(2,1),
@ -1548,6 +1560,7 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
// Here we use mapToScene() from QGraphicsItem instead // Here we use mapToScene() from QGraphicsItem instead
// of QTransform::map() because if the homography is not valid, // of QTransform::map() because if the homography is not valid,
// huge errors are set by the QGraphicsItem and not by QTransform::map(); // huge errors are set by the QGraphicsItem and not by QTransform::map();
UASSERT(objects_.contains(id));
QRectF objectRect = objects_.value(id)->rect(); QRectF objectRect = objects_.value(id)->rect();
QGraphicsRectItem item(objectRect); QGraphicsRectItem item(objectRect);
item.setTransform(hTransform); item.setTransform(hTransform);
@ -1650,6 +1663,7 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
info.rejectedCodes_.insert(id, code); info.rejectedCodes_.insert(id, code);
} }
} }
UDEBUG("Processed matches %d", i+1);
} }
info.timeStamps_.insert(DetectionInfo::kTimeHomography, time.restart()); info.timeStamps_.insert(DetectionInfo::kTimeHomography, time.restart());
} }