tracking: fix unitialized memory access in TLD

modules/tracking/src/tldModel.cpp

@@ -87,9 +87,9 @@ namespace cv
 			//Generate initial positive samples and put them to the model
 			positiveExamples.reserve(200);
 
-			for (int i = 0; i < (int)closest.size(); i++)
+            for (size_t i = 0; i < closest.size(); i++)
 			{
-				for (int j = 0; j < 20; j++)
+                for (size_t j = 0; j < 20; j++)
 				{
 					Point2f center;
 					Size2f size;
@@ -102,13 +102,15 @@ namespace cv
 
 					resample(scaledImg, RotatedRect(center, size, angle), standardPatch);
 
-					for (int y = 0; y < standardPatch.rows; y++)
-					{
-						for (int x = 0; x < standardPatch.cols; x++)
-						{
-							standardPatch(x, y) += (uchar)rng.gaussian(5.0);
-						}
-					}
+                    for( int y = 0; y < standardPatch.rows; y++ )
+                    {
+                        uchar* patchRow = standardPatch.ptr(y);
+                        for( int x = 0; x < standardPatch.cols; x++ )
+                        {
+                            int newValue = patchRow[x] + cvRound(rng.gaussian(5.0));
+                            patchRow[x] = saturate_cast<uchar>(newValue);
+                        }
+                    }
 
 #ifdef BLUR_AS_VADIM
 					GaussianBlur(standardPatch, blurredPatch, GaussBlurKernelSize, 0.0);

modules/tracking/src/tldTracker.cpp

@@ -41,7 +41,6 @@
 
 #include "tldTracker.hpp"
 
-
 namespace cv
 {
 
@@ -156,7 +155,7 @@ bool TrackerTLDImpl::updateImpl(const Mat& image, Rect2d& boundingBox)
 			else
 #endif
                 DETECT_FLG = tldModel->detector->detect(imageForDetector, image_blurred, tmpCandid, detectorResults, tldModel->getMinSize());
-            }
+        }
         if( ( (i == 0) && !data->failedLastTime && trackerProxy->update(image, tmpCandid) ) || ( DETECT_FLG))
         {
             candidates.push_back(tmpCandid);
@@ -174,7 +173,7 @@ bool TrackerTLDImpl::updateImpl(const Mat& image, Rect2d& boundingBox)
     }
     std::vector<double>::iterator it = std::max_element(candidatesRes.begin(), candidatesRes.end());
 
-    if( it == candidatesRes.end() )
+    if( it == candidatesRes.end() ) //candidates are empty
     {
         data->confident = false;
         data->failedLastTime = true;
@@ -259,6 +258,7 @@ int TrackerTLDImpl::Pexpert::additionalExamples(std::vector<Mat_<uchar> >& examp
 
     double scale = scaleAndBlur(img_, cvRound(log(1.0 * resultBox_.width / (initSize_.width)) / log(SCALE_STEP)),
             scaledImg, blurredImg, GaussBlurKernelSize, SCALE_STEP);
+
     TLDDetector::generateScanGrid(img_.rows, img_.cols, initSize_, scanGrid);
     getClosestN(scanGrid, Rect2d(resultBox_.x / scale, resultBox_.y / scale, resultBox_.width / scale, resultBox_.height / scale), 10, closest);
 
@@ -275,21 +275,24 @@ int TrackerTLDImpl::Pexpert::additionalExamples(std::vector<Mat_<uchar> >& examp
             size.height = (float)(closest[i].height * rng.uniform((double)0.99, (double)1.01));
             float angle = (float)rng.uniform(-5.0, 5.0);
 
+            resample(scaledImg, RotatedRect(center, size, angle), standardPatch);
             for( int y = 0; y < standardPatch.rows; y++ )
             {
+                uchar* patchRow = standardPatch.ptr(y);
                 for( int x = 0; x < standardPatch.cols; x++ )
                 {
-                    standardPatch(x, y) += (uchar)rng.gaussian(5.0);
+                    int newValue = patchRow[x] + cvRound(rng.gaussian(5.0));
+                    patchRow[x] = saturate_cast<uchar>(newValue);
                 }
             }
-#ifdef BLUR_AS_VADIM
+            examplesForModel.push_back(standardPatch);
+
+#if defined BLUR_AS_VADIM
             GaussianBlur(standardPatch, blurredPatch, GaussBlurKernelSize, 0.0);
             resize(blurredPatch, blurredPatch, initSize_);
 #else
             resample(blurredImg, RotatedRect(center, size, angle), blurredPatch);
 #endif
-            resample(scaledImg, RotatedRect(center, size, angle), standardPatch);
-            examplesForModel.push_back(standardPatch);
             examplesForEnsemble.push_back(blurredPatch);
         }
     }

modules/tracking/src/tldTracker.hpp

@@ -112,7 +112,7 @@ private:
 };
 
 
-#define BLUR_AS_VADIM
+#undef BLUR_AS_VADIM
 #undef CLOSED_LOOP
 
 class TrackerTLDImpl : public TrackerTLD