solvepnp pnpTask (Bug #4260)

Added by Javier Barandiaran almost 10 years ago. Updated over 9 years ago.

Status:	New	Start date:	2015-03-31
Priority:	Normal	Due date:
Assignee:	-	% Done:	0%
Category:	calibration, 3d
Target version:	-
Affected version:	2.4.9 (latest release)	Operating System:	Windows
Difficulty:		HW Platform:	x86
Pull request:

Description

Hi,
I think that I found a bug in method pnpTask from solvepnp.cpp in version 2.4.11
line 200
if ( (localInliers.size() > inliers.size()) || (localInliers.size() inliers.size() && curIndex > bestIndex))
should be
if ( !localInliers.empty() && ((localInliers.size() > inliers.size()) || (localInliers.size() inliers.size() && curIndex > bestIndex)))
If localInliers is empty then we have a problem with the memcpy
memcpy(&inliers⁰, &localInliers⁰, sizeof(int) * localInliers.size());