Question

我有一个客户端/服务器应用程序，我的服务器管理opencv库来做例如视差映射，应用程序与stereoSGBM一起正常工作，但是使用stereoBM我随机崩溃了ctrl + f5版本，所以启动它没有调试。

崩溃是随机的，有时try / catch我可能会得到错误的分配内存，无法分配1k字节。相反，使用调用堆栈，我无法捕获任何相关内容，因为崩溃并不总是在同一点，有时是一个imgread，有时是一个malloc，一个免费的mat.release，所以每次都不同，但总是以某种方式涉及记忆。

代码非常简单：

void disparity_mapping(std::vector<std::string> & _return, const StereoBmValue& BmValue, const ClientShowSelection& clientShowSelection, const std::string& filenameL, const std::string& filenameR)
{
int ch;
alg = BmValue.algorithmSelection;

if((filenameL == "0" || filenameR == "0"))
_return.push_back("0");
if((filenameL != "0" && filenameR != "0"))
{
  imgL = imread(filenameL , CV_LOAD_IMAGE_GRAYSCALE );
  imgR = imread(filenameR, CV_LOAD_IMAGE_GRAYSCALE );
  _return.push_back("1");
  ch = imgL.channels();
  setAlgValue(BmValue, methodSelection, ch); //Setting the value for StereoBM or SGBM
  disp = calculateDisparity(imgL, imgR, alg); //calculating disparity
  normalize(disp, disp8, 0, 255, CV_MINMAX, CV_8U);
  string matAsStringL(imgL.begin<unsigned char>(), imgL.end<unsigned char>());
  _return.push_back(matAsStringL);

  string matAsStringR(imgR.begin<unsigned char>(), imgR.end<unsigned char>());
  _return.push_back(matAsStringR);

  string matAsStringD(disp8.begin<unsigned char>(), disp8.end<unsigned char>());
  _return.push_back(matAsStringD);
}

调用的两个函数：

void setAlgValue(const StereoBmValue BmValue, int methodSelection, int ch)
{   
    if (initDisp)
        initDisparity(methodSelection); //inizializing bm.init(...) and find remap informations from steroRect, etc.

    //Select  0 == StereoSGBM, 1 == StereoBM
    int alg = BmValue.algorithmSelection;

    //storing alg value.
    stereoValue.minDisparity = BmValue.minDisparity;
    stereoValue.disp12MaxDiff = BmValue.disp12MaxDiff;
    stereoValue.SADWindowSize = BmValue.SADWindowSize;
    stereoValue.textureThreshold = BmValue.textureThreshold;
    stereoValue.uniquenessRatio = BmValue.uniquenessRatio;
    stereoValue.numberOfDisparities = BmValue.numberOfDisparities;
    stereoValue.preFilterCap = BmValue.preFilterCap;
    stereoValue.speckleWindowSize = BmValue.speckleWindowSize;
    stereoValue.speckleRange = BmValue.speckleRange;
    stereoValue.preFilterSize = BmValue.preFilterSize;

if (alg == 1) //set of the values in the bm state
{
    bm.state->roi1 = roi1;
    bm.state->roi2 = roi2;
    bm.state->preFilterCap = stereoValue.preFilterCap;
    bm.state->SADWindowSize = stereoValue.SADWindowSize;
    bm.state->minDisparity = stereoValue.minDisparity;
    bm.state->numberOfDisparities = stereoValue.numberOfDisparities;
    bm.state->textureThreshold = stereoValue.textureThreshold;
    bm.state->uniquenessRatio = stereoValue.uniquenessRatio;
    bm.state->speckleWindowSize = stereoValue.speckleWindowSize;
    bm.state->speckleRange = stereoValue.speckleRange;
    bm.state->disp12MaxDiff = stereoValue.disp12MaxDiff;
    bm.state->preFilterSize = stereoValue.preFilterSize;
}


else if(alg == 0) //same for SGBM
{
    sgbm.P1 = 8*ch*sgbm.SADWindowSize*sgbm.SADWindowSize;
    sgbm.P2 = 32*ch*sgbm.SADWindowSize*sgbm.SADWindowSize;
    sgbm.preFilterCap = stereoValue.preFilterCap;
    sgbm.SADWindowSize = stereoValue.SADWindowSize;
    sgbm.minDisparity = stereoValue.minDisparity;
    sgbm.numberOfDisparities = stereoValue.numberOfDisparities;
    sgbm.uniquenessRatio = stereoValue.uniquenessRatio;
    sgbm.speckleWindowSize = stereoValue.speckleWindowSize;
    sgbm.speckleRange = stereoValue.speckleRange;
    sgbm.disp12MaxDiff = stereoValue.disp12MaxDiff;
}
}

和另一个：

Mat calculateDisparity(Mat& imgL, Mat& imgR,  int alg)
{
    Mat disparity;
//remap for rectification

remap(imgL, imgL, map11, map12, INTER_LINEAR,BORDER_CONSTANT, Scalar());
remap(imgR, imgR, map21, map22, INTER_LINEAR,BORDER_CONSTANT, Scalar());

//disp
if (alg == 1)  
 bm( imgL , imgR , disparity);

else if (alg == 0)
 sgbm(imgL, imgR, disparity);

return disparity;

}

因为你可以看到代码非常简单，但是使用bm会使所有代码崩溃。我正在使用最新的VSC更新的OpenCV库构建。也与节俭apache，pcl，eigen，vtk和boost有关。 bm / sgbm值由客户端控制并且是正确的，我在调试的调试/发布中没有任何错误。什么可以？为什么一个工作而另一个使整个应用程序崩溃？为什么只是在没有调试的情况下发布？

Answer 1

我遇到了同样的问题，并且发现bm.state-＆gt; textureThreshold的值很高，它会崩溃。对于我来说，约50 +的值正在崩溃。

StereoBM OpenCV在发布时调配错误，无需调试

1 个答案: