add k check to ignore the out_of range crash

2021-08-23 09:48:31 +02:00
parent e0122c81bb
commit 7168d92e1c
1 changed files with 1 additions and 1 deletions
@@ -92,7 +92,7 @@ void FastDetector::detect(
      const int k = static_cast<int>((fast_corners[i].y*scale)/cell_size_)*grid_n_cols_
                  + static_cast<int>((fast_corners[i].x*scale)/cell_size_);

-      if(grid_occupancy_[k])
+      if(grid_occupancy_[k] || k > corners.size())
        continue;

      const float score = vk::shiTomasiScore(img_pyr[L], fast_corners[i].x, fast_corners[i].y);