Merge pull request #2309 from deni64k:master

Fix memory corruption in RgbdPlane

* Fix memory corruption

* Use divUp instead of explicit rounding up integer division

* rgbd: add test

modules/rgbd/src/plane.cpp

@@ -584,8 +584,8 @@ private:
         plane = Ptr<PlaneBase>(new PlaneABC(plane_grid.m_(y, x), n, (int)index_plane,
 			(float)sensor_error_a_, (float)sensor_error_b_, (float)sensor_error_c_));
 
-      Mat_<unsigned char> plane_mask = Mat_<unsigned char>::zeros(points3d.rows / block_size_,
-                                                                          points3d.cols / block_size_);
+      Mat_<unsigned char> plane_mask = Mat_<unsigned char>::zeros(divUp(points3d.rows, block_size_),
+                                                                  divUp(points3d.cols, block_size_));
       std::set<TileQueue::PlaneTile> neighboring_tiles;
       neighboring_tiles.insert(front_tile);
       plane_queue.remove(front_tile.y_, front_tile.x_);

modules/rgbd/test/test_normal.cpp

@@ -470,4 +470,15 @@ TEST(Rgbd_Plane, compute)
   test.safe_run();
 }
 
+TEST(Rgbd_Plane, regression_2309_valgrind_check)
+{
+    Mat points(640, 480, CV_32FC3, Scalar::all(0));
+    rgbd::RgbdPlane plane_detector;
+    plane_detector.setBlockSize(9);  // Note, 640%9 is 1 and 480%9 is 3
+
+    Mat mask;
+    std::vector<cv::Vec4f> planes;
+    plane_detector(points, mask, planes);  // Will corrupt memory; valgrind gets triggered
+}
+
 }} // namespace