From 87c2b8197ac4b4af3d049577d5c0e3443fc33c28 Mon Sep 17 00:00:00 2001
From: Olexa Bilaniuk <obilaniu@gmail.com>
Date: Thu, 5 Feb 2015 02:18:41 -0500
Subject: [PATCH] Bug fixes in mask output.

Previously, the output mask of inliers could remain completely
uninitialized. This fix is the first part of a solution.
---
 modules/calib3d/src/fundam.cpp  | 7 ++-----
 modules/calib3d/src/rhorefc.cpp | 6 ++++++
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/modules/calib3d/src/fundam.cpp b/modules/calib3d/src/fundam.cpp
index 327670249..1366e9baa 100644
--- a/modules/calib3d/src/fundam.cpp
+++ b/modules/calib3d/src/fundam.cpp
@@ -286,7 +286,7 @@ static bool createAndRunRHORegistrator(double confidence,
                                        OutputArray _tempMask){
     Mat    src = _src.getMat();
     Mat    dst = _dst.getMat();
-    Mat    tempMask = _tempMask.getMat();
+    Mat    tempMask;
     bool   result;
     double beta = 0.35;/* 0.35 is a value that often works. */
 
@@ -294,10 +294,7 @@ static bool createAndRunRHORegistrator(double confidence,
     Mat tmpH = Mat(3, 3, CV_32FC1);
 
     /* Create output mask. */
-    if(!tempMask.data){
-        tempMask = Mat(npoints, 1, CV_8U);
-    }
-
+    tempMask = Mat(npoints, 1, CV_8U);
 
     /**
      * Make use of the RHO estimator API.
diff --git a/modules/calib3d/src/rhorefc.cpp b/modules/calib3d/src/rhorefc.cpp
index 6d8924480..3cc9a8a1c 100644
--- a/modules/calib3d/src/rhorefc.cpp
+++ b/modules/calib3d/src/rhorefc.cpp
@@ -512,6 +512,9 @@ static inline int    sacInitRun(RHO_HEST_REFC* p){
         return 0;
     }
 
+    memset(p->best.inl, 0, p->arg.N);
+    memset(p->curr.inl, 0, p->arg.N);
+
     /**
      * LevMarq workspace alloc.
      *
@@ -1155,6 +1158,9 @@ static inline void   sacUpdateBounds(RHO_HEST_REFC* p){
 static inline void   sacOutputModel(RHO_HEST_REFC* p){
     if(sacIsBestModelGoodEnough(p)){
         memcpy(p->arg.finalH, p->best.H, HSIZE);
+        if(p->arg.inl != p->best.inl){
+            memcpy(p->arg.inl, p->best.inl, p->arg.N);
+        }
     }else{
         sacOutputZeroH(p);
     }