linemod.cpp crash (Bug #3139)

Here's the code, it simply loads an image of size width=410, height = 400, and fits to it a template of 30x29 pixels. To make sure that nothing is wrong with the specific images I used, I created new empty images in mspaint with the same dimensions, so you can reproduce the results exactly.
Note that I've added code to crop the image so it's size is a whole multiple of "Dmodulo", where I set it to 1 to leave the image unchanged. I've tried a variety of options, including 2,4,8,16,32,64,128. The minimal one that worked was 160 (but I did not check more options). Maybe this is because linemod processes video of 640x480?
Thanks,
-Amir

color = cv::imread("C:/Users/amirro/Desktop/linemod_images/empty_image.jpg");    
    cv::Mat template1 = cv::imread("C:/Users/amirro/Desktop/linemod_images/empty_template.jpg");

    int dModulo = 1; // Change this to 160 to avoid it crash!
    cv::Size newSize(color.size().width-color.size().width % dModulo,
        color.size().height-color.size().height % dModulo);
    cout <<"old size: " << color.size() << ", new size: " << newSize << endl;
    color = color.rowRange(0,newSize.height).colRange(0,newSize.width);

    std::vector<cv::Mat> sources;
    sources.push_back(color);            
    std::vector<cv::Mat> templates;
    templates.push_back(template1);
    cv::Mat mask;
    detector->addTemplate(templates,"template1",mask);

    cv::Mat display = color.clone();
    num_classes = templates.size();
    // Perform matching
    std::vector<cv::linemod::Match> matches;
    std::vector<std::string> class_ids;
    std::vector<cv::Mat> quantized_images;
    match_timer.start();    
    detector->match(sources, (float)matching_threshold, matches, class_ids, quantized_images);
    match_timer.stop();

p.s the crash is somewhere in orUnaligned8u, it then crashes inside checkHardwareSupport with a null pointer.

I see that this is old, but not yet resolved. The linearize function in linemod.cpp has two CV_Assert calls that hint at cv::linemod::Detector::T_at_level being related to the image size limitation. Linemod should not crash so long as your image dimensions or T_at_level are adjusted to pass this CV_Assert code:

for( unsigned i=0; i< T_at_level.size(); ++i)
{
    CV_Assert( im.cols % ( (int)pow(2.,i+1) * T_at_level[i]) == 0 && im.rows % ( (int)pow(2.,i+1) * T_at_level[i] ) == 0);
}

Issue has been transferred to GitHub: https://github.com/Itseez/opencv/issues/4593