Merge branch 4.x

modules/features2d/test/test_blobdetector.cpp

@@ -0,0 +1,21 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#include "test_precomp.hpp"
+
+namespace opencv_test { namespace {
+TEST(Features2d_BlobDetector, bug_6667)
+{
+    cv::Mat image = cv::Mat(cv::Size(100, 100), CV_8UC1, cv::Scalar(255, 255, 255));
+    cv::circle(image, Point(50, 50), 20, cv::Scalar(0), -1);
+    SimpleBlobDetector::Params params;
+    params.minThreshold = 250;
+    params.maxThreshold = 260;
+    std::vector<KeyPoint> keypoints;
+
+    Ptr<SimpleBlobDetector> detector = SimpleBlobDetector::create(params);
+    detector->detect(image, keypoints);
+    ASSERT_NE((int) keypoints.size(), 0);
+}
+}} // namespace

modules/features2d/test/test_nearestneighbors.cpp

@@ -123,7 +123,7 @@ void NearestNeighborTest::run( int /*start_from*/ ) {
     Mat desc( featuresCount, dims, CV_32FC1 );
     ts->get_rng().fill( desc, RNG::UNIFORM, minValue, maxValue );
 
-    createModel( desc );
+    createModel( desc.clone() );  // .clone() is used to simulate dangling pointers problem: https://github.com/opencv/opencv/issues/17553
 
     tempCode = checkGetPoints( desc );
     if( tempCode != cvtest::TS::OK )

modules/features2d/test/test_orb.cpp

@@ -90,7 +90,7 @@ TEST(Features2D_ORB, _1996)
     ASSERT_EQ(0, roiViolations);
 }
 
-TEST(Features2D_ORB, crash)
+TEST(Features2D_ORB, crash_5031)
 {
     cv::Mat image = cv::Mat::zeros(cv::Size(1920, 1080), CV_8UC3);
 
@@ -123,4 +123,23 @@ TEST(Features2D_ORB, crash)
     ASSERT_NO_THROW(orb->compute(image, keypoints, descriptors));
 }
 
+
+TEST(Features2D_ORB, regression_16197)
+{
+    Mat img(Size(72, 72), CV_8UC1, Scalar::all(0));
+    Ptr<ORB> orbPtr = ORB::create();
+    orbPtr->setNLevels(5);
+    orbPtr->setFirstLevel(3);
+    orbPtr->setScaleFactor(1.8);
+    orbPtr->setPatchSize(8);
+    orbPtr->setEdgeThreshold(8);
+
+    std::vector<KeyPoint> kps;
+    Mat fv;
+
+    // exception in debug mode, crash in release
+    ASSERT_NO_THROW(orbPtr->detectAndCompute(img, noArray(), kps, fv));
+}
+
+
 }} // namespace