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Merge pull request #14647 from alalek:fix_coverity_issues

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pull/14652/head
Alexander Alekhin 6 years ago
parent d7c465d49e 483f28723c
commit 42484f3bcb
3 changed files with 33 additions and 32 deletions
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  1. 6
      modules/calib3d/src/ap3p.cpp
  2. 42
      modules/calib3d/src/epnp.cpp
  3. 17
      modules/calib3d/src/p3p.cpp

6
modules/calib3d/src/ap3p.cpp
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@ -328,7 +328,7 @@ int ap3p::computePoses(const double featureVectors[3][4],
bool ap3p::solve(cv::Mat &R, cv::Mat &tvec, const cv::Mat &opoints, const cv::Mat &ipoints) {
CV_INSTRUMENT_REGION();
double rotation_matrix[3][3], translation[3];
double rotation_matrix[3][3] = {}, translation[3] = {};
std::vector<double> points;
if (opoints.depth() == ipoints.depth()) {
if (opoints.depth() == CV_32F)
@ -353,7 +353,7 @@ bool ap3p::solve(cv::Mat &R, cv::Mat &tvec, const cv::Mat &opoints, const cv::Ma
int ap3p::solve(std::vector<cv::Mat> &Rs, std::vector<cv::Mat> &tvecs, const cv::Mat &opoints, const cv::Mat &ipoints) {
CV_INSTRUMENT_REGION();
double rotation_matrix[4][3][3], translation[4][3];
double rotation_matrix[4][3][3] = {}, translation[4][3] = {};
std::vector<double> points;
if (opoints.depth() == ipoints.depth()) {
if (opoints.depth() == CV_32F)
@ -391,7 +391,7 @@ ap3p::solve(double R[3][3], double t[3],
double mu1, double mv1, double X1, double Y1, double Z1,
double mu2, double mv2, double X2, double Y2, double Z2,
double mu3, double mv3, double X3, double Y3, double Z3) {
double Rs[4][3][3], ts[4][3];
double Rs[4][3][3] = {}, ts[4][3] = {};
const bool p4p = true;
int n = solve(Rs, ts, mu0, mv0, X0, Y0, Z0, mu1, mv1, X1, Y1, Z1, mu2, mv2, X2, Y2, Z2, mu3, mv3, X3, Y3, Z3, p4p);

42
modules/calib3d/src/epnp.cpp
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@ -60,7 +60,7 @@ void epnp::choose_control_points(void)
// Take C1, C2, and C3 from PCA on the reference points:
CvMat * PW0 = cvCreateMat(number_of_correspondences, 3, CV_64F);
double pw0tpw0[3 * 3], dc[3] = {0}, uct[3 * 3] = {0};
double pw0tpw0[3 * 3] = {}, dc[3] = {}, uct[3 * 3] = {};
CvMat PW0tPW0 = cvMat(3, 3, CV_64F, pw0tpw0);
CvMat DC = cvMat(3, 1, CV_64F, dc);
CvMat UCt = cvMat(3, 3, CV_64F, uct);
@ -83,7 +83,7 @@ void epnp::choose_control_points(void)
void epnp::compute_barycentric_coordinates(void)
{
double cc[3 * 3], cc_inv[3 * 3];
double cc[3 * 3] = {}, cc_inv[3 * 3] = {};
CvMat CC = cvMat(3, 3, CV_64F, cc);
CvMat CC_inv = cvMat(3, 3, CV_64F, cc_inv);
@ -98,10 +98,12 @@ void epnp::compute_barycentric_coordinates(void)
double * a = &alphas[0] + 4 * i;
for(int j = 0; j < 3; j++)
{
a[1 + j] =
ci[3 * j ] * (pi[0] - cws[0][0]) +
ci[3 * j + 1] * (pi[1] - cws[0][1]) +
ci[3 * j + 2] * (pi[2] - cws[0][2]);
ci[3 * j ] * (pi[0] - cws[0][0]) +
ci[3 * j + 1] * (pi[1] - cws[0][1]) +
ci[3 * j + 2] * (pi[2] - cws[0][2]);
}
a[0] = 1.0f - a[1] - a[2] - a[3];
}
}
@ -132,7 +134,7 @@ void epnp::compute_ccs(const double * betas, const double * ut)
const double * v = ut + 12 * (11 - i);
for(int j = 0; j < 4; j++)
for(int k = 0; k < 3; k++)
ccs[j][k] += betas[i] * v[3 * j + k];
ccs[j][k] += betas[i] * v[3 * j + k];
}
}
@ -157,7 +159,7 @@ void epnp::compute_pose(Mat& R, Mat& t)
for(int i = 0; i < number_of_correspondences; i++)
fill_M(M, 2 * i, &alphas[0] + 4 * i, us[2 * i], us[2 * i + 1]);
double mtm[12 * 12], d[12], ut[12 * 12];
double mtm[12 * 12] = {}, d[12] = {}, ut[12 * 12] = {};
CvMat MtM = cvMat(12, 12, CV_64F, mtm);
CvMat D = cvMat(12, 1, CV_64F, d);
CvMat Ut = cvMat(12, 12, CV_64F, ut);
@ -166,15 +168,15 @@ void epnp::compute_pose(Mat& R, Mat& t)
cvSVD(&MtM, &D, &Ut, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
cvReleaseMat(&M);
double l_6x10[6 * 10], rho[6];
double l_6x10[6 * 10] = {}, rho[6] = {};
CvMat L_6x10 = cvMat(6, 10, CV_64F, l_6x10);
CvMat Rho = cvMat(6, 1, CV_64F, rho);
compute_L_6x10(ut, l_6x10);
compute_rho(rho);
double Betas[4][4], rep_errors[4];
double Rs[4][3][3], ts[4][3];
double Betas[4][4] = {}, rep_errors[4] = {};
double Rs[4][3][3] = {}, ts[4][3] = {};
find_betas_approx_1(&L_6x10, &Rho, Betas[1]);
gauss_newton(&L_6x10, &Rho, Betas[1]);
@ -221,7 +223,7 @@ double epnp::dot(const double * v1, const double * v2)
void epnp::estimate_R_and_t(double R[3][3], double t[3])
{
double pc0[3], pw0[3];
double pc0[3] = {}, pw0[3] = {};
pc0[0] = pc0[1] = pc0[2] = 0.0;
pw0[0] = pw0[1] = pw0[2] = 0.0;
@ -240,7 +242,7 @@ void epnp::estimate_R_and_t(double R[3][3], double t[3])
pw0[j] /= number_of_correspondences;
}
double abt[3 * 3] = {0}, abt_d[3], abt_u[3 * 3], abt_v[3 * 3];
double abt[3 * 3] = {}, abt_d[3] = {}, abt_u[3 * 3] = {}, abt_v[3 * 3] = {};
CvMat ABt = cvMat(3, 3, CV_64F, abt);
CvMat ABt_D = cvMat(3, 1, CV_64F, abt_d);
CvMat ABt_U = cvMat(3, 3, CV_64F, abt_u);
@ -284,7 +286,7 @@ void epnp::solve_for_sign(void)
if (pcs[2] < 0.0) {
for(int i = 0; i < 4; i++)
for(int j = 0; j < 3; j++)
ccs[i][j] = -ccs[i][j];
ccs[i][j] = -ccs[i][j];
for(int i = 0; i < number_of_correspondences; i++) {
pcs[3 * i ] = -pcs[3 * i];
@ -332,7 +334,7 @@ double epnp::reprojection_error(const double R[3][3], const double t[3])
void epnp::find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho,
double * betas)
{
double l_6x4[6 * 4], b4[4] = {0};
double l_6x4[6 * 4] = {}, b4[4] = {};
CvMat L_6x4 = cvMat(6, 4, CV_64F, l_6x4);
CvMat B4 = cvMat(4, 1, CV_64F, b4);
@ -364,7 +366,7 @@ void epnp::find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho,
void epnp::find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho,
double * betas)
{
double l_6x3[6 * 3], b3[3] = {0};
double l_6x3[6 * 3] = {}, b3[3] = {};
CvMat L_6x3 = cvMat(6, 3, CV_64F, l_6x3);
CvMat B3 = cvMat(3, 1, CV_64F, b3);
@ -396,7 +398,7 @@ void epnp::find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho,
void epnp::find_betas_approx_3(const CvMat * L_6x10, const CvMat * Rho,
double * betas)
{
double l_6x5[6 * 5], b5[5] = {0};
double l_6x5[6 * 5] = {}, b5[5] = {};
CvMat L_6x5 = cvMat(6, 5, CV_64F, l_6x5);
CvMat B5 = cvMat(5, 1, CV_64F, b5);
@ -431,7 +433,7 @@ void epnp::compute_L_6x10(const double * ut, double * l_6x10)
v[2] = ut + 12 * 9;
v[3] = ut + 12 * 8;
double dv[4][6][3];
double dv[4][6][3] = {};
for(int i = 0; i < 4; i++) {
int a = 0, b = 1;
@ -442,8 +444,8 @@ void epnp::compute_L_6x10(const double * ut, double * l_6x10)
b++;
if (b > 3) {
a++;
b = a + 1;
a++;
b = a + 1;
}
}
}
@ -506,7 +508,7 @@ void epnp::gauss_newton(const CvMat * L_6x10, const CvMat * Rho, double betas[4]
{
const int iterations_number = 5;
double a[6*4], b[6], x[4] = {0};
double a[6*4] = {}, b[6] = {}, x[4] = {};
CvMat A = cvMat(6, 4, CV_64F, a);
CvMat B = cvMat(6, 1, CV_64F, b);
CvMat X = cvMat(4, 1, CV_64F, x);

17
modules/calib3d/src/p3p.cpp
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@ -35,7 +35,7 @@ bool p3p::solve(cv::Mat& R, cv::Mat& tvec, const cv::Mat& opoints, const cv::Mat
{
CV_INSTRUMENT_REGION();
double rotation_matrix[3][3], translation[3];
double rotation_matrix[3][3] = {}, translation[3] = {};
std::vector<double> points;
if (opoints.depth() == ipoints.depth())
{
@ -63,7 +63,7 @@ int p3p::solve(std::vector<cv::Mat>& Rs, std::vector<cv::Mat>& tvecs, const cv::
{
CV_INSTRUMENT_REGION();
double rotation_matrix[4][3][3], translation[4][3];
double rotation_matrix[4][3][3] = {}, translation[4][3] = {};
std::vector<double> points;
if (opoints.depth() == ipoints.depth())
{
@ -103,7 +103,7 @@ bool p3p::solve(double R[3][3], double t[3],
double mu2, double mv2, double X2, double Y2, double Z2,
double mu3, double mv3, double X3, double Y3, double Z3)
{
double Rs[4][3][3], ts[4][3];
double Rs[4][3][3] = {}, ts[4][3] = {};
const bool p4p = true;
int n = solve(Rs, ts, mu0, mv0, X0, Y0, Z0, mu1, mv1, X1, Y1, Z1, mu2, mv2, X2, Y2, Z2, mu3, mv3, X3, Y3, Z3, p4p);
@ -159,7 +159,7 @@ int p3p::solve(double R[4][3][3], double t[4][3],
cosines[1] = mu0 * mu2 + mv0 * mv2 + mk0 * mk2;
cosines[2] = mu0 * mu1 + mv0 * mv1 + mk0 * mk1;
double lengths[4][3];
double lengths[4][3] = {};
int n = solve_for_lengths(lengths, distances, cosines);
int nb_solutions = 0;
@ -319,21 +319,21 @@ bool p3p::align(double M_end[3][3],
double R[3][3], double T[3])
{
// Centroids:
double C_start[3], C_end[3];
double C_start[3] = {}, C_end[3] = {};
for(int i = 0; i < 3; i++) C_end[i] = (M_end[0][i] + M_end[1][i] + M_end[2][i]) / 3;
C_start[0] = (X0 + X1 + X2) / 3;
C_start[1] = (Y0 + Y1 + Y2) / 3;
C_start[2] = (Z0 + Z1 + Z2) / 3;
// Covariance matrix s:
double s[3 * 3];
double s[3 * 3] = {};
for(int j = 0; j < 3; j++) {
s[0 * 3 + j] = (X0 * M_end[0][j] + X1 * M_end[1][j] + X2 * M_end[2][j]) / 3 - C_end[j] * C_start[0];
s[1 * 3 + j] = (Y0 * M_end[0][j] + Y1 * M_end[1][j] + Y2 * M_end[2][j]) / 3 - C_end[j] * C_start[1];
s[2 * 3 + j] = (Z0 * M_end[0][j] + Z1 * M_end[1][j] + Z2 * M_end[2][j]) / 3 - C_end[j] * C_start[2];
}
double Qs[16], evs[4], U[16];
double Qs[16] = {}, evs[4] = {}, U[16] = {};
Qs[0 * 4 + 0] = s[0 * 3 + 0] + s[1 * 3 + 1] + s[2 * 3 + 2];
Qs[1 * 4 + 1] = s[0 * 3 + 0] - s[1 * 3 + 1] - s[2 * 3 + 2];
@ -386,7 +386,7 @@ bool p3p::align(double M_end[3][3],
bool p3p::jacobi_4x4(double * A, double * D, double * U)
{
double B[4], Z[4];
double B[4] = {}, Z[4] = {};
double Id[16] = {1., 0., 0., 0.,
0., 1., 0., 0.,
0., 0., 1., 0.,
@ -396,7 +396,6 @@ bool p3p::jacobi_4x4(double * A, double * D, double * U)
B[0] = A[0]; B[1] = A[5]; B[2] = A[10]; B[3] = A[15];
memcpy(D, B, 4 * sizeof(double));
memset(Z, 0, 4 * sizeof(double));
for(int iter = 0; iter < 50; iter++) {
double sum = fabs(A[1]) + fabs(A[2]) + fabs(A[3]) + fabs(A[6]) + fabs(A[7]) + fabs(A[11]);

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