fix(hand): pose3d/mediapipe palmobject.landmarks wrong malloc

go/examples/hand/main.go

@@ -43,6 +43,7 @@ func main() {
 	// }
 	d3d := mediapipe(modelPath)
 	detect3d(d3d, imgPath, fontPath, "hand1.jpg")
+	detect3d(d3d, imgPath, fontPath, "hand2.jpg")
 }
 
 func yolox(modelPath string) detecter.Detecter {

src/classifier/svm/svm_light/svm_learn.h

@@ -19,9 +19,12 @@
 #ifndef SVM_LEARN
 #define SVM_LEARN
 
+#include "svm_common.h"
+
 #ifdef __cplusplus
 extern "C" {
 #endif
+
 void svm_learn_classification(DOC **, double *, long, long, LEARN_PARM *,
                               KERNEL_PARM *, KERNEL_CACHE *, MODEL *, double *);
 void svm_learn_regression(DOC **, double *, long, long, LEARN_PARM *,

src/hand/pose3d/estimator.cpp

@@ -53,6 +53,8 @@ int mediapipe_hand_detect(IHandPose3DEstimator d, const unsigned char *rgbdata,
   int ret = static_cast<ovhand3d::MediapipeHand *>(d)->Detect(
       rgbdata, img_width, img_height, objs);
   if (ret != 0) {
+    objects->length = 0;
+    objects->items = NULL;
     return ret;
   }
   const size_t total_objs = objs.size();
@@ -61,6 +63,7 @@ int mediapipe_hand_detect(IHandPose3DEstimator d, const unsigned char *rgbdata,
     objects->items = NULL;
     return 0;
   }
+
   objects->items = (PalmObject *)malloc(total_objs * sizeof(PalmObject));
   for (size_t i = 0; i < total_objs; ++i) {
     objects->items[i].score = objs[i].score;
@@ -75,7 +78,7 @@ int mediapipe_hand_detect(IHandPose3DEstimator d, const unsigned char *rgbdata,
         (Point2fVector *)malloc(sizeof(Point2fVector));
     objects->items[i].landmarks->length = 7;
     objects->items[i].landmarks->points =
-        (Point2f *)malloc(4 * sizeof(Point2f));
+        (Point2f *)malloc(7 * sizeof(Point2f));
     for (size_t j = 0; j < 7; ++j) {
       objects->items[i].landmarks->points[j] = objs[i].landmarks[j];
     }
@@ -85,18 +88,26 @@ int mediapipe_hand_detect(IHandPose3DEstimator d, const unsigned char *rgbdata,
       objects->items[i].skeleton3d = NULL;
       continue;
     }
+    const size_t total_skeleton3d = objs[i].skeleton3d.size();
+    if (total_skeleton3d == 0) {
+      objects->items[i].skeleton = NULL;
+      objects->items[i].skeleton3d = NULL;
+      continue;
+    }
     objects->items[i].skeleton = (Point2fVector *)malloc(sizeof(Point2fVector));
     objects->items[i].skeleton->length = total_skeleton;
     objects->items[i].skeleton->points =
         (Point2f *)malloc(total_skeleton * sizeof(Point2f));
     objects->items[i].skeleton3d =
         (Point3dVector *)malloc(sizeof(Point3dVector));
-    objects->items[i].skeleton3d->length = total_skeleton;
+    objects->items[i].skeleton3d->length = total_skeleton3d;
     objects->items[i].skeleton3d->points =
-        (Point3d *)malloc(total_skeleton * sizeof(Point3d));
+        (Point3d *)malloc(total_skeleton3d * sizeof(Point3d));
     for (size_t j = 0; j < total_skeleton; ++j) {
       objects->items[i].skeleton->points[j].x = objs[i].skeleton[j].x;
       objects->items[i].skeleton->points[j].y = objs[i].skeleton[j].y;
+    }
+    for (size_t j = 0; j < total_skeleton3d; ++j) {
       objects->items[i].skeleton3d->points[j].x = objs[i].skeleton3d[j].x;
       objects->items[i].skeleton3d->points[j].y = objs[i].skeleton3d[j].y;
       objects->items[i].skeleton3d->points[j].z = objs[i].skeleton3d[j].z;

src/hand/pose3d/mediapipe/mediapipe.cpp

@@ -440,6 +440,7 @@ int MediapipeHand::Detect(const unsigned char *rgbdata, int img_width,
   decode_bounds(region_list, prob_threshold, target_size, target_size, scores,
                 bboxes, anchors);
   non_max_suppression(region_list, region_nms_list, nms_threshold);
+
   objects.clear();
   pack_detect_result(detect_results, region_nms_list, target_size, objects);
 
@@ -490,10 +491,9 @@ int MediapipeHand::Detect(const unsigned char *rgbdata, int img_width,
     ncnn::Mat trans_image =
         ncnn::Mat::from_pixels(trans_mat, ncnn::Mat::PIXEL_RGB, 224, 224);
 
+    free(trans_mat);
     float score = GetLandmarks(trans_image, tm, objects[i].skeleton,
                                objects[i].skeleton3d);
-
-    free(trans_mat);
   }
   return 0;
 }