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Fixed a bug that would cause undefined behavior when the detected fast9 corners array needed reallocation.

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This commit is contained in:
Manos Kyriakakis
2017-06-07 18:16:12 +02:00
parent c5e432cb09
commit e39ed3c22c
3 changed files with 10 additions and 10 deletions
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sw/airborne/modules/computer_vision/lib/vision/fast_rosten.c
+8 -8
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@@ -46,12 +46,12 @@ static void fast_make_offsets(int32_t *pixel, uint16_t row_stride, uint8_t pixel
* @param[in] y_padding The padding in the y direction to not scan for corners * @param[in] y_padding The padding in the y direction to not scan for corners
* @param[in] *num_corners reference to the amount of corners found, set by this function * @param[in] *num_corners reference to the amount of corners found, set by this function
* @param[in] *ret_corners_length the length of the array *ret_corners. * @param[in] *ret_corners_length the length of the array *ret_corners.
* @param[in] *ret_corners array which contains the corners that were detected. * @param[in] **ret_corners pointer to the array which contains the corners that were detected.
* @param[in] *roi array of format [x0 y0 x1 y1] describing the region of interest in the image where the corners will be detected. If null, the whole image is used. * @param[in] *roi array of format [x0 y0 x1 y1] describing the region of interest in the image where the corners will be detected. If null, the whole image is used.
*/ */
void fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uint16_t x_padding, uint16_t y_padding, uint16_t *num_corners, uint16_t *ret_corners_length,struct point_t *ret_corners, uint16_t *roi) { void fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uint16_t x_padding, uint16_t y_padding, uint16_t *num_corners, uint16_t *ret_corners_length, struct point_t **ret_corners, uint16_t *roi) {
uint32_t corner_cnt = 0; uint16_t corner_cnt = 0;
int pixel[16]; int pixel[16];
int16_t i; int16_t i;
uint16_t x, y, x_min, x_max, y_min, x_start, x_end, y_start, y_end; uint16_t x, y, x_min, x_max, y_min, x_start, x_end, y_start, y_end;
@@ -100,10 +100,10 @@ void fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uin
// corners are stored with increasing y, // corners are stored with increasing y,
// so if we go from the last to the first, then their y-coordinate will go out of range // so if we go from the last to the first, then their y-coordinate will go out of range
if(ret_corners[i].y < y_min) if((*ret_corners)[i].y < y_min)
break; break;
if (x_min < ret_corners[i].x && ret_corners[i].x < x_max) { if (x_min < (*ret_corners)[i].x && (*ret_corners)[i].x < x_max) {
need_skip = 1; need_skip = 1;
break; break;
} }
@@ -3655,11 +3655,11 @@ void fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uin
// When we have more corner than allocted space reallocate // When we have more corner than allocted space reallocate
if (corner_cnt >= *ret_corners_length) { if (corner_cnt >= *ret_corners_length) {
*ret_corners_length *= 2; *ret_corners_length *= 2;
ret_corners = realloc(ret_corners, sizeof(struct point_t) * (*ret_corners_length)); *ret_corners = realloc(*ret_corners, sizeof(struct point_t) * (*ret_corners_length));
} }
ret_corners[corner_cnt].x = x; (*ret_corners)[corner_cnt].x = x;
ret_corners[corner_cnt].y = y; (*ret_corners)[corner_cnt].y = y;
corner_cnt++; corner_cnt++;
// Skip some in the width direction // Skip some in the width direction
sw/airborne/modules/computer_vision/lib/vision/fast_rosten.h
+1 -1
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@@ -37,6 +37,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "std.h" #include "std.h"
#include "lib/vision/image.h" #include "lib/vision/image.h"
void fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uint16_t x_padding, uint16_t y_padding, uint16_t *num_corners,uint16_t *ret_corners_length,struct point_t *ret_corners, uint16_t *roi); void fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uint16_t x_padding, uint16_t y_padding, uint16_t *num_corners,uint16_t *ret_corners_length, struct point_t **ret_corners, uint16_t *roi);
#endif #endif
sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c
+1 -1
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@@ -283,7 +283,7 @@ void calc_fast9_lukas_kanade(struct opticflow_t *opticflow, struct opticflow_sta
fast9_detect(img, opticflow->fast9_threshold, opticflow->fast9_min_distance, fast9_detect(img, opticflow->fast9_threshold, opticflow->fast9_min_distance,
opticflow->fast9_padding, opticflow->fast9_padding, &result->corner_cnt, opticflow->fast9_padding, opticflow->fast9_padding, &result->corner_cnt,
&opticflow->fast9_rsize, &opticflow->fast9_rsize,
opticflow->fast9_ret_corners, &opticflow->fast9_ret_corners,
0); 0);
// Adaptive threshold // Adaptive threshold