From 97e1ac89f82e1c06605f0088ea7439fff510a5b9 Mon Sep 17 00:00:00 2001
From: Alex Liberzon <alexlib@users.noreply.github.com>
Date: Sat, 6 May 2023 17:48:12 +0300
Subject: [PATCH] found a bug in check_epi.c in test_find_candidates

---
 liboptv/src/epi.c            |  5 +++++
 liboptv/tests/check_epi.c    | 18 +++++++++++-------
 py_bind/test/test_corresp.py |  6 +++---
 3 files changed, 19 insertions(+), 10 deletions(-)

diff --git a/liboptv/src/epi.c b/liboptv/src/epi.c
index dce5c2f9..f14ceef6 100644
--- a/liboptv/src/epi.c
+++ b/liboptv/src/epi.c
@@ -201,6 +201,11 @@ int find_candidate (coord_2d *crd, target *pix, int num,
           continue;
         
       p2 = crd[j].pnr;
+      
+      if (p2 >= num) {
+          printf("pnr out of range: %d\n", p2);
+          return -1;
+      }
 					  
       /* quality of each parameter is a ratio of the values of the 
          size n, nx, ny and sum of grey values sumg */
diff --git a/liboptv/tests/check_epi.c b/liboptv/tests/check_epi.c
index 5848456e..a550127a 100644
--- a/liboptv/tests/check_epi.c
+++ b/liboptv/tests/check_epi.c
@@ -203,7 +203,7 @@ START_TEST(test_find_candidate)
         {3, 0.2, 0.8, 10, 3, 3, 30, -999},
         {4, 0.4, -1.1, 10, 3, 3, 40, -999},
         {1, 0.7, -0.1, 10, 3, 3, 50, -999},
-        {7, 1.2, 0.3, 10, 3, 3, 60, -999},
+        {2, 1.2, 0.3, 10, 3, 3, 60, -999},
         {5, 10.4, 0.1, 10, 3, 3, 70, -999}
     };
     			   
@@ -211,12 +211,12 @@ START_TEST(test_find_candidate)
 
     /* coord_2d is int pnr, double x,y */
     coord_2d test_crd[] = {
-        {0, 0.0, 0.0},
         {6, 0.1, 0.1}, /* best candidate, right on the diagonal */
         {3, 0.2, 0.8},
         {4, 0.4, -1.1},
         {1, 0.7, -0.1},
-        {7, 1.2, 0.3},
+        {2, 1.2, 0.3},
+        {0, 0.0, 0.0},
         {5, 10.4, 0.1}
     };
 
@@ -290,9 +290,13 @@ START_TEST(test_find_candidate)
         n, nx, ny, sumg, test_cand, &test_vpar, test_cpar, &test_cal);
     
     free_control_par(test_cpar);
+
+    for (i=0; i<count; i++) {
+        printf("candidate %d: pnr %d, corr %f, tol %f\n", i, test_cand[i].pnr, test_cand[i].corr, test_cand[i].tol);
+    }
     
     /* expected results: */
-    fail_unless(test_cand[0].pnr = 1);
+    fail_unless(test_cand[0].pnr == 0);
     fail_unless(test_cand[0].tol < EPS);
 
     /* regression guard */
@@ -301,9 +305,9 @@ START_TEST(test_find_candidate)
     	sum_corr += test_cand[i].corr;
     }	
    
-    ck_assert_msg( fabs(sum_corr - 2625.) < EPS && 
-                   (count == 4)  && 
-                    fabs(test_cand[3].tol  - 0.565685) < EPS,
+    ck_assert_msg( fabs(sum_corr -3301.0) < EPS && 
+                   (count == 5)  && 
+                    fabs(test_cand[3].tol  - 0.636396) < EPS,
          "\n Expected ...  \n  \
          but found %f %d %9.6f \n", sum_corr, count, test_cand[3].tol);	
 }
diff --git a/py_bind/test/test_corresp.py b/py_bind/test/test_corresp.py
index f55d9402..f185ab34 100644
--- a/py_bind/test/test_corresp.py
+++ b/py_bind/test/test_corresp.py
@@ -120,9 +120,9 @@ def test_single_cam_corresp(self):
             targ.set_pixel_counts(25, 5, 5)
             targ.set_sum_grey_value(10)
             
-            img_pts.append(targs)
-            mc = MatchedCoords(targs, cpar, cal)
-            corrected.append(mc)
+        img_pts.append(targs)
+        mc = MatchedCoords(targs, cpar, cal)
+        corrected.append(mc)
         
         _, _, num_targs = correspondences(
             img_pts, corrected, cals, vpar, cpar)