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Fix out of image corners in cv::cornerSubPix #24527

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Merged
merged 2 commits into from
Nov 21, 2023
Merged

Fix out of image corners in cv::cornerSubPix #24527

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5c15bb1
Fix out of image corners in cv::cornerSubPix
MaximSmolskiy Nov 11, 2023
c8f2c5c
Fix review issues
MaximSmolskiy Nov 13, 2023
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6 changes: 4 additions & 2 deletions modules/imgproc/src/cornersubpix.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,7 @@ void cv::cornerSubPix( InputArray _image, InputOutputArray _corners,
for( int pt_i = 0; pt_i < count; pt_i++ )
{
Point2f cT = corners[pt_i], cI = cT;
CV_Assert( Rect(0, 0, src.cols, src.rows).contains(cT) );
int iter = 0;
double err = 0;

Expand Down Expand Up @@ -140,9 +141,10 @@ void cv::cornerSubPix( InputArray _image, InputOutputArray _corners,
cI2.x = (float)(cI.x + c*scale*bb1 - b*scale*bb2);
cI2.y = (float)(cI.y - b*scale*bb1 + a*scale*bb2);
err = (cI2.x - cI.x) * (cI2.x - cI.x) + (cI2.y - cI.y) * (cI2.y - cI.y);
cI = cI2;
if( cI.x < 0 || cI.x >= src.cols || cI.y < 0 || cI.y >= src.rows )
// if new point is out of image, leave previous point as the result
if( !Rect(0, 0, src.cols, src.rows).contains(cI2) )
break;
cI = cI2;
}
while( ++iter < max_iters && err > eps );

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68 changes: 68 additions & 0 deletions modules/imgproc/test/test_cornersubpix.cpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,68 @@
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#include "test_precomp.hpp"

namespace opencv_test { namespace {

TEST(Imgproc_CornerSubPix, out_of_image_corners)
{
const uint8_t image_pixels[] = {
0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1,
0, 0, 0, 0, 0, 0, 2,
0, 0, 0, 0, 0, 0, 3};

cv::Mat image(cv::Size(7, 7), CV_8UC1, (void*)image_pixels, cv::Mat::AUTO_STEP);
std::vector<cv::Point2f> corners = {cv::Point2f(5.25, 6.5)};
cv::Size win(1, 1);
cv::Size zeroZone(-1, -1);
cv::TermCriteria criteria;
cv::cornerSubPix(image, corners, win, zeroZone, criteria);

ASSERT_EQ(corners.size(), 1u);
ASSERT_TRUE(Rect(0, 0, image.cols, image.rows).contains(corners.front()));
}

}} // namespace