From e349847adcaabb1a14ea38a37c67823a91a18d34 Mon Sep 17 00:00:00 2001
From: Jonathan Guinet <jonathan.guinet@c-s.fr>
Date: Mon, 1 Jul 2013 16:31:44 +0200
Subject: [PATCH] BUG: DisparityTranslate called with empty sensor buffered
region results in segfault (occurs when lauching StereFramework with too
coarse grid parameter.)
---
.../otbDisparityTranslateFilter.txx | 255 +++++++++---------
1 file changed, 135 insertions(+), 120 deletions(-)
diff --git a/Code/DisparityMap/otbDisparityTranslateFilter.txx b/Code/DisparityMap/otbDisparityTranslateFilter.txx
index c3190f4fd2..a7c67910b1 100644
--- a/Code/DisparityMap/otbDisparityTranslateFilter.txx
+++ b/Code/DisparityMap/otbDisparityTranslateFilter.txx
@@ -228,7 +228,7 @@ DisparityTranslateFilter<TDisparityImage,TGridImage,TSensorImage,TMaskImage>
emptyRegion.SetSize(0,0);
emptyRegion.SetSize(1,0);
leftIn->SetRequestedRegion(emptyRegion);
-
+
TDisparityImage * horizOut = this->GetHorizontalDisparityMapOutput();
TDisparityImage * horizIn = const_cast<TDisparityImage*>(this->GetHorizontalDisparityMapInput());
@@ -323,113 +323,80 @@ DisparityTranslateFilter<TDisparityImage,TGridImage,TSensorImage,TMaskImage>
{
const TGridImage * leftGrid = this->GetInverseEpipolarLeftGrid();
const TGridImage * rightGrid = this->GetDirectEpipolarRightGrid();
-
+
TDisparityImage * horizOut = this->GetHorizontalDisparityMapOutput();
TDisparityImage * vertiOut = this->GetVerticalDisparityMapOutput();
-
+
const TDisparityImage * horizIn = this->GetHorizontalDisparityMapInput();
const TDisparityImage * vertiIn = this->GetVerticalDisparityMapInput();
-
+
const TMaskImage * maskIn = this->GetDisparityMaskInput();
-
+
GridRegionType leftLargest = leftGrid->GetLargestPossibleRegion();
GridRegionType rightLargest = rightGrid->GetLargestPossibleRegion();
RegionType buffered = horizIn->GetBufferedRegion();
-
- typedef itk::ImageRegionIteratorWithIndex<TDisparityImage> DispIterator;
- DispIterator horizIter(horizOut,outputRegionForThread);
- DispIterator vertiIter(vertiOut,outputRegionForThread);
-
- horizIter.GoToBegin();
- vertiIter.GoToBegin();
-
- while (!horizIter.IsAtEnd() && !vertiIter.IsAtEnd())
- {
- PointType pointSensor;
- horizOut->TransformIndexToPhysicalPoint(horizIter.GetIndex(),pointSensor);
-
- itk::ContinuousIndex<double,2> indexGrid;
- leftGrid->TransformPhysicalPointToContinuousIndex(pointSensor,indexGrid);
-
- // Interpolate in left grid
- IndexType ul;
- ul[0] = static_cast<long>(vcl_floor(indexGrid[0]));
- ul[1] = static_cast<long>(vcl_floor(indexGrid[1]));
- if (ul[0]<leftLargest.GetIndex()[0]) ul[0]=leftLargest.GetIndex()[0];
- if (ul[1]<leftLargest.GetIndex()[1]) ul[1]=leftLargest.GetIndex()[1];
- if (ul[0]>(unsigned int)(leftLargest.GetIndex()[0]+leftLargest.GetSize()[0]-2)) ul[0]=(leftLargest.GetIndex()[0]+leftLargest.GetSize()[0]-2);
- if (ul[1]>(unsigned int)(leftLargest.GetIndex()[1]+leftLargest.GetSize()[1]-2)) ul[1]=(leftLargest.GetIndex()[1]+leftLargest.GetSize()[1]-2);
-
- IndexType ur = ul;
- ur[0] += 1;
- IndexType ll = ul;
- ll[1] += 1;
- IndexType lr = ul;
- lr[0] += 1;
- lr[1] += 1;
-
- double rx = indexGrid[0] - static_cast<double>(ul[0]);
- double ry = indexGrid[1] - static_cast<double>(ul[1]);
- PointType pointEpi = pointSensor;
-
- pointEpi[0] += (1. - ry) * ((1. - rx) * leftGrid->GetPixel(ul)[0] + rx * leftGrid->GetPixel(ur)[0]) +
- ry * ((1. - rx) * leftGrid->GetPixel(ll)[0] + rx * leftGrid->GetPixel(lr)[0]);
- pointEpi[1] += (1. - ry) * ((1. - rx) * leftGrid->GetPixel(ul)[1] + rx * leftGrid->GetPixel(ur)[1]) +
- ry * ((1. - rx) * leftGrid->GetPixel(ll)[1] + rx * leftGrid->GetPixel(lr)[1]);
-
- itk::ContinuousIndex<double,2> indexEpi;
- horizIn->TransformPhysicalPointToContinuousIndex(pointEpi,indexEpi);
-
- // Interpolate in disparity map
- ul[0] = static_cast<long>(vcl_floor(indexEpi[0]));
- ul[1] = static_cast<long>(vcl_floor(indexEpi[1]));
- if (ul[0]<buffered.GetIndex()[0]) ul[0]=buffered.GetIndex()[0];
- if (ul[1]<buffered.GetIndex()[1]) ul[1]=buffered.GetIndex()[1];
- if (ul[0]>(unsigned int)(buffered.GetIndex()[0]+buffered.GetSize()[0]-2)) ul[0]=(buffered.GetIndex()[0]+buffered.GetSize()[0]-2);
- if (ul[1]>(unsigned int)(buffered.GetIndex()[1]+buffered.GetSize()[1]-2)) ul[1]=(buffered.GetIndex()[1]+buffered.GetSize()[1]-2);
-
- ur = ul;
- ur[0] += 1;
- ll = ul;
- ll[1] += 1;
- lr = ul;
- lr[0] += 1;
- lr[1] += 1;
-
- // check if all corners are valid
- if (!maskIn || (maskIn &&
- maskIn->GetPixel(ul) > 0 &&
- maskIn->GetPixel(ur) > 0 &&
- maskIn->GetPixel(ll) > 0 &&
- maskIn->GetPixel(lr) > 0))
+
+ const bool emptyInputRegion=buffered.GetNumberOfPixels() == 0;
+
+ typedef itk::ImageRegionIteratorWithIndex<TDisparityImage> DispIterator;
+ DispIterator horizIter(horizOut, outputRegionForThread);
+ DispIterator vertiIter(vertiOut, outputRegionForThread);
+
+ horizIter.GoToBegin();
+ vertiIter.GoToBegin();
+
+ while (!horizIter.IsAtEnd() && !vertiIter.IsAtEnd())
{
- rx = indexEpi[0] - static_cast<double>(ul[0]);
- ry = indexEpi[1] - static_cast<double>(ul[1]);
-
- itk::ContinuousIndex<double,2> indexRight(indexEpi);
-
- indexRight[0] += (1. - ry) * ((1. - rx) * horizIn->GetPixel(ul) + rx * horizIn->GetPixel(ur)) +
- ry * ((1. - rx) * horizIn->GetPixel(ll) + rx * horizIn->GetPixel(lr));
- if (vertiIn)
+
+ if(!emptyInputRegion)
{
- indexRight[1] += (1. - ry) * ((1. - rx) * vertiIn->GetPixel(ul) + rx * vertiIn->GetPixel(ur)) +
- ry * ((1. - rx) * vertiIn->GetPixel(ll) + rx * vertiIn->GetPixel(lr));
- }
-
- PointType pointRight;
- horizIn->TransformContinuousIndexToPhysicalPoint(indexRight,pointRight);
-
- itk::ContinuousIndex<double,2> indexGridRight;
- rightGrid->TransformPhysicalPointToContinuousIndex(pointRight,indexGridRight);
-
- // Interpolate in right grid
- ul[0] = static_cast<long>(vcl_floor(indexGridRight[0]));
- ul[1] = static_cast<long>(vcl_floor(indexGridRight[1]));
- if (ul[0]<rightLargest.GetIndex()[0]) ul[0]=rightLargest.GetIndex()[0];
- if (ul[1]<rightLargest.GetIndex()[1]) ul[1]=rightLargest.GetIndex()[1];
- if (ul[0]>(unsigned int)(rightLargest.GetIndex()[0]+rightLargest.GetSize()[0]-2)) ul[0]=(rightLargest.GetIndex()[0]+rightLargest.GetSize()[0]-2);
- if (ul[1]>(unsigned int)(rightLargest.GetIndex()[1]+rightLargest.GetSize()[1]-2)) ul[1]=(rightLargest.GetIndex()[1]+rightLargest.GetSize()[1]-2);
-
+ PointType pointSensor;
+ horizOut->TransformIndexToPhysicalPoint(horizIter.GetIndex(), pointSensor);
+
+ itk::ContinuousIndex<double, 2> indexGrid;
+ leftGrid->TransformPhysicalPointToContinuousIndex(pointSensor, indexGrid);
+
+ // Interpolate in left grid
+ IndexType ul;
+ ul[0] = static_cast<long> (vcl_floor(indexGrid[0]));
+ ul[1] = static_cast<long> (vcl_floor(indexGrid[1]));
+ if (ul[0] < leftLargest.GetIndex()[0]) ul[0] = leftLargest.GetIndex()[0];
+ if (ul[1] < leftLargest.GetIndex()[1]) ul[1] = leftLargest.GetIndex()[1];
+ if (ul[0] > (unsigned int) (leftLargest.GetIndex()[0] + leftLargest.GetSize()[0] - 2)) ul[0] = (
+ leftLargest.GetIndex()[0] + leftLargest.GetSize()[0] - 2);
+ if (ul[1] > (unsigned int) (leftLargest.GetIndex()[1] + leftLargest.GetSize()[1] - 2)) ul[1] = (
+ leftLargest.GetIndex()[1] + leftLargest.GetSize()[1] - 2);
+
+ IndexType ur = ul;
+ ur[0] += 1;
+ IndexType ll = ul;
+ ll[1] += 1;
+ IndexType lr = ul;
+ lr[0] += 1;
+ lr[1] += 1;
+
+ double rx = indexGrid[0] - static_cast<double> (ul[0]);
+ double ry = indexGrid[1] - static_cast<double> (ul[1]);
+ PointType pointEpi = pointSensor;
+
+ pointEpi[0] += (1. - ry) * ((1. - rx) * leftGrid->GetPixel(ul)[0] + rx * leftGrid->GetPixel(ur)[0]) + ry * ((1.
+ - rx) * leftGrid->GetPixel(ll)[0] + rx * leftGrid->GetPixel(lr)[0]);
+ pointEpi[1] += (1. - ry) * ((1. - rx) * leftGrid->GetPixel(ul)[1] + rx * leftGrid->GetPixel(ur)[1]) + ry * ((1.
+ - rx) * leftGrid->GetPixel(ll)[1] + rx * leftGrid->GetPixel(lr)[1]);
+
+ itk::ContinuousIndex<double, 2> indexEpi;
+ horizIn->TransformPhysicalPointToContinuousIndex(pointEpi, indexEpi);
+
+ // Interpolate in disparity map
+ ul[0] = static_cast<long> (vcl_floor(indexEpi[0]));
+ ul[1] = static_cast<long> (vcl_floor(indexEpi[1]));
+ if (ul[0] < buffered.GetIndex()[0]) ul[0] = buffered.GetIndex()[0];
+ if (ul[1] < buffered.GetIndex()[1]) ul[1] = buffered.GetIndex()[1];
+ if (ul[0] > (unsigned int) (buffered.GetIndex()[0] + buffered.GetSize()[0] - 2)) ul[0] = (buffered.GetIndex()[0]
+ + buffered.GetSize()[0] - 2);
+ if (ul[1] > (unsigned int) (buffered.GetIndex()[1] + buffered.GetSize()[1] - 2)) ul[1] = (buffered.GetIndex()[1]
+ + buffered.GetSize()[1] - 2);
+
ur = ul;
ur[0] += 1;
ll = ul;
@@ -437,29 +404,77 @@ DisparityTranslateFilter<TDisparityImage,TGridImage,TSensorImage,TMaskImage>
lr = ul;
lr[0] += 1;
lr[1] += 1;
-
- rx = indexGridRight[0] - static_cast<double>(ul[0]);
- ry = indexGridRight[1] - static_cast<double>(ul[1]);
-
- PointType pointSensorRight = pointRight;
-
- pointSensorRight[0] += (1. - ry) * ((1. - rx) * rightGrid->GetPixel(ul)[0] + rx * rightGrid->GetPixel(ur)[0]) +
- ry * ((1. - rx) * rightGrid->GetPixel(ll)[0] + rx * rightGrid->GetPixel(lr)[0]);
- pointSensorRight[1] += (1. - ry) * ((1. - rx) * rightGrid->GetPixel(ul)[1] + rx * rightGrid->GetPixel(ur)[1]) +
- ry * ((1. - rx) * rightGrid->GetPixel(ll)[1] + rx * rightGrid->GetPixel(lr)[1]);
-
- horizIter.Set(pointSensorRight[0] - pointSensor[0]);
- vertiIter.Set(pointSensorRight[1] - pointSensor[1]);
- }
- else
- {
- horizIter.Set(m_NoDataValue);
- vertiIter.Set(m_NoDataValue);
+
+ // check if all corners are valid
+ if (!maskIn || (maskIn && maskIn->GetPixel(ul) > 0 && maskIn->GetPixel(ur) > 0 && maskIn->GetPixel(ll) > 0 &&
+ maskIn->GetPixel(lr) > 0))
+ {
+ rx = indexEpi[0] - static_cast<double> (ul[0]);
+ ry = indexEpi[1] - static_cast<double> (ul[1]);
+
+ itk::ContinuousIndex<double, 2> indexRight(indexEpi);
+
+ indexRight[0] += (1. - ry) * ((1. - rx) * horizIn->GetPixel(ul) + rx * horizIn->GetPixel(ur)) + ry * ((1. - rx)
+ * horizIn->GetPixel(ll) + rx * horizIn->GetPixel(lr));
+ if (vertiIn)
+ {
+ indexRight[1] += (1. - ry) * ((1. - rx) * vertiIn->GetPixel(ul) + rx * vertiIn->GetPixel(ur)) + ry * ((1.
+ - rx) * vertiIn->GetPixel(ll) + rx * vertiIn->GetPixel(lr));
+ }
+
+ PointType pointRight;
+ horizIn->TransformContinuousIndexToPhysicalPoint(indexRight, pointRight);
+
+ itk::ContinuousIndex<double, 2> indexGridRight;
+ rightGrid->TransformPhysicalPointToContinuousIndex(pointRight, indexGridRight);
+
+ // Interpolate in right grid
+ ul[0] = static_cast<long> (vcl_floor(indexGridRight[0]));
+ ul[1] = static_cast<long> (vcl_floor(indexGridRight[1]));
+ if (ul[0] < rightLargest.GetIndex()[0]) ul[0] = rightLargest.GetIndex()[0];
+ if (ul[1] < rightLargest.GetIndex()[1]) ul[1] = rightLargest.GetIndex()[1];
+ if (ul[0] > (unsigned int) (rightLargest.GetIndex()[0] + rightLargest.GetSize()[0] - 2)) ul[0] = (
+ rightLargest.GetIndex()[0] + rightLargest.GetSize()[0] - 2);
+ if (ul[1] > (unsigned int) (rightLargest.GetIndex()[1] + rightLargest.GetSize()[1] - 2)) ul[1] = (
+ rightLargest.GetIndex()[1] + rightLargest.GetSize()[1] - 2);
+
+ ur = ul;
+ ur[0] += 1;
+ ll = ul;
+ ll[1] += 1;
+ lr = ul;
+ lr[0] += 1;
+ lr[1] += 1;
+
+ rx = indexGridRight[0] - static_cast<double> (ul[0]);
+ ry = indexGridRight[1] - static_cast<double> (ul[1]);
+
+ PointType pointSensorRight = pointRight;
+
+ pointSensorRight[0] += (1. - ry) * ((1. - rx) * rightGrid->GetPixel(ul)[0] + rx * rightGrid->GetPixel(ur)[0]) +
+ ry * ((1. - rx) * rightGrid->GetPixel(ll)[0] + rx * rightGrid->GetPixel(lr)[0]);
+ pointSensorRight[1] += (1. - ry) * ((1. - rx) * rightGrid->GetPixel(ul)[1] + rx * rightGrid->GetPixel(ur)[1]) +
+ ry * ((1. - rx) * rightGrid->GetPixel(ll)[1] + rx * rightGrid->GetPixel(lr)[1]);
+
+ horizIter.Set(pointSensorRight[0] - pointSensor[0]);
+ vertiIter.Set(pointSensorRight[1] - pointSensor[1]);
+ }
+ else
+ {
+ horizIter.Set(m_NoDataValue);
+ vertiIter.Set(m_NoDataValue);
+ }
+ }
+ else
+ {
+ horizIter.Set(m_NoDataValue);
+ vertiIter.Set(m_NoDataValue);
+ }
+ ++horizIter;
+ ++vertiIter;
}
-
- ++horizIter;
- ++vertiIter;
- }
+
+
}
--
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