Fix ubsan divide by zero warning in ransac
Change-Id: I8c736ff665a27ce8307fd62571b9728333756d7e
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fcb2ca6eda
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fa75ae0663
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@ -81,10 +81,12 @@ static void project_points_double_homography(double *mat, double *points,
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const int stride_points,
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const int stride_proj) {
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int i;
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double x, y, Z;
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double x, y, Z, Z_inv;
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for (i = 0; i < n; ++i) {
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x = *(points++), y = *(points++);
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Z = 1. / (mat[7] * x + mat[6] * y + 1);
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Z_inv = mat[7] * x + mat[6] * y + 1;
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assert(fabs(Z_inv) > 0.00001);
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Z = 1. / Z_inv;
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*(proj++) = (mat[1] * x + mat[0] * y + mat[3]) * Z;
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*(proj++) = (mat[2] * x + mat[4] * y + mat[4]) * Z;
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points += stride_points - 2;
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@ -155,7 +157,7 @@ static int ransac(double *matched_points, int npoints, int *number_of_inliers,
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double T1[9], T2[9];
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*number_of_inliers = 0;
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if (npoints < minpts * MINPTS_MULTIPLIER) {
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if (npoints < minpts * MINPTS_MULTIPLIER || npoints == 0) {
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printf("Cannot find motion with %d matches\n", npoints);
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return 1;
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}
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@ -245,9 +247,13 @@ static int ransac(double *matched_points, int npoints, int *number_of_inliers,
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}
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}
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if (num_inliers >= max_inliers) {
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double mean_distance = sum_distance / ((double)num_inliers);
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double variance = sum_distance_squared / ((double)num_inliers - 1.0) -
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if (num_inliers >= max_inliers && num_inliers > 1) {
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int temp;
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double fracinliers, pNoOutliers, mean_distance, variance;
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assert(num_inliers > 1);
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mean_distance = sum_distance / ((double)num_inliers);
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variance = sum_distance_squared / ((double)num_inliers - 1.0) -
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mean_distance * mean_distance * ((double)num_inliers) /
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((double)num_inliers - 1.0);
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if ((num_inliers > max_inliers) ||
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@ -262,19 +268,18 @@ static int ransac(double *matched_points, int npoints, int *number_of_inliers,
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memcpy(best_inlier_mask, inlier_mask,
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npoints * sizeof(*best_inlier_mask));
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if (num_inliers > 0) {
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double fracinliers = (double)num_inliers / (double)npoints;
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double pNoOutliers = 1 - pow(fracinliers, minpts);
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int temp;
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assert(npoints > 0);
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fracinliers = (double)num_inliers / (double)npoints;
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pNoOutliers = 1 - pow(fracinliers, minpts);
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pNoOutliers = fmax(EPS, pNoOutliers);
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pNoOutliers = fmin(1 - EPS, pNoOutliers);
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assert(fabs(1.0 - pNoOutliers) > 0.00001);
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temp = (int)(log(1.0 - PROBABILITY_REQUIRED) / log(pNoOutliers));
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if (temp > 0 && temp < N) {
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N = AOMMAX(temp, MIN_TRIALS);
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}
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}
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}
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}
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trial_count++;
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}
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find_transformation(max_inliers, best_inlier_set1, best_inlier_set2,
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@ -356,6 +361,7 @@ int ransac_homography(double *matched_points, int npoints,
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// normalize so that H33 = 1
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int i;
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const double m = 1.0 / best_params[8];
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assert(fabs(best_params[8]) > 0.00001);
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for (i = 0; i < 8; ++i) best_params[i] *= m;
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best_params[8] = 1.0;
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}
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