Cv2.RecoverPose (triangulatedPoints overload) throws AccessViolationException

[ShinNoNoir]

Summary of your issue

The Cv2.RecoverPose overload with OutputArray triangulatedPoints throws an AccessViolationException.

Environment

OpenCvSharp4.Windows: 4.5.5.20211231

OS: Windows 10 Pro 21H1 19043.1586 Visual Studio 2019 16.10.4

Example code:

        static void Main(string[] args)
        {
            var points1 = new[,] 
            {
                { 0.38813609924847137, 0.02447841812986895 },
                { 0.08423523188782245, 0.10197624851964165 },
                { 0.29981091670244864, 0.10563331155486635 },
                { 0.2692439454334949, 0.11443490334674666 },
                { -0.041948288655290975, -0.05514874152548128 },
                { 0.03992329933832534, 0.007632737039647461 },
                { 0.050901003100829574, 0.05711866453816542 },
                { -0.03948646783477256, 0.025999204793101333 },
                { -0.06209751680095625, 0.04221654108790821 },
                { -0.016555534818875183, 0.06435009173308306 },
                { -0.16903822109902406, -0.07257834381179194 },
                { 0.41642570198356116, 0.12256932045317968 },
                { 0.39861580051504203, 0.16142837173027308 },
                { 0.04655404967444799, -0.010591253965935497 },
                { 0.03556041780480632, -0.006437507577777012 },
                { 0.41248124653016055, 0.02397771978349547 },
                { 0.3801891632514438, 0.026561067331762406 },
                { 0.42808861337304654, 0.029163367387340686 },
                { 0.4318539553218957, 0.03833957070243556 },
                { 0.44248180108275476, 0.04785089487375638 },
                { 0.4262027536470637, 0.050711978734889696 },
                { 0.0874961830532552, 0.1031790076314136 },
                { 0.2700899364672753, 0.11163060447412339 },
                { 0.3582427322108526, 0.11545310747602498 },
                { 0.041542631217902054, -0.02727039291563035 },
                { 0.4303139947145481, 0.03949740376628924 },
                { 0.06001969886286597, 0.046760602502455145 },
                { -0.03946697379884526, 0.021581967008446938 },
                { -0.1642986257578312, -0.06865176910206533 },
                { 0.03938910580334193, -0.07728559157122807 },
                { 0.06254455304488589, -0.03771698379780939 },
                { -0.07909181296840861, -0.03482664261191205 },
                { -0.08020047248432952, -0.04234032884282093 },
            };
            var points2 = new[,]
            {
                { -0.2789943914026892, 0.30720648107100057 },
                { -0.03211411217735307, 0.0552583557497171 },
                { -0.29157998452774253, 0.1485318201443865 },
                { -0.2702940577548254, 0.12072539127028371 },
                { 0.2477206015038991, 0.2415913262853919 },
                { 0.06618681525128994, 0.17127756148205156 },
                { 0.042038487143667536, 0.10712379560384284 },
                { 0.17024542526228917, 0.09981948720558462 },
                { 0.19885502624141976, 0.06308992557874996 },
                { 0.12763100053213033, 0.058938319107061155 },
                { 0.46339803911837213, 0.1987904682083972 },
                { -0.433620692570429, 0.16921885039668041 },
                { -0.46932283702262495, 0.10055432703225901 },
                { 0.07157221583536884, 0.2046623745409314 },
                { 0.08044325517579885, 0.1909797723911847 },
                { -0.30160697877887155, 0.31671400091223556 },
                { -0.2720897728043967, 0.30219843720518874 },
                { -0.3233379323990584, 0.31416448403147024 },
                { -0.3395905678403646, 0.3015414353998168 },
                { -0.36075032186748296, 0.291377190103051 },
                { -0.34930563708219925, 0.2816288831915651 },
                { -0.03776495756263569, 0.054842338028296626 },
                { -0.26713013306303746, 0.1259610178894828 },
                { -0.366032826498244, 0.15698442478244704 },
                { 0.09215684671120347, 0.2314028881588346 },
                { -0.3382650691409414, 0.2996505624675723 },
                { 0.032134959390848615, 0.12605425231232353 },
                { 0.17160473809736793, 0.10638491555956729 },
                { 0.45231703093455844, 0.19440993018522748 },
                { 0.14987665442569326, 0.319307869795434 },
                { 0.06438724162613875, 0.256554254526816 },
                { 0.268219830870227, 0.17746488412848505 },
                { 0.27588351860241883, 0.19031175105448103 },
            };

            using var points1m = Mat<double>.FromArray(points1);
            using var points2m = Mat<double>.FromArray(points2);

            using var K = Mat.Eye(3, 3, MatType.CV_64F);
            
            recoverPoseTest1(points1m, points2m, K); // works
            recoverPoseTest2(points1m, points2m, K); // fails: System.AccessViolationException
        }

        private static void recoverPoseTest1(Mat<double> points1m, Mat<double> points2m, Mat K)
        {
            using var inliers = new Mat();
            using var E = Cv2.FindEssentialMat(points1m, points2m, K, EssentialMatMethod.LMedS, 0.99, 1.0, inliers);

            using var R = new Mat();
            using var t = new Mat();
            int numInliers = Cv2.RecoverPose(E, points1m, points2m, K, R, t, inliers);
        }

        private static void recoverPoseTest2(Mat<double> points1m, Mat<double> points2m, Mat K)
        {
            using var inliers = new Mat();
            using var E = Cv2.FindEssentialMat(points1m, points2m, K, EssentialMatMethod.LMedS, 0.99, 1.0, inliers);

            using var R = new Mat();
            using var t = new Mat();
            using var triangulatedPoints = new Mat();
            int numInliers = Cv2.RecoverPose(E, points1m, points2m, K, R, t, 50.0, inliers, triangulatedPoints);
        }

Expected results:

Cv2.RecoverPose should not crash when asked to triangulate points.

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[ShinNoNoir]

Still unresolved in version 4.6.0.20220608.

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[ShinNoNoir]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

Still unresolved in version 4.7.0.20230115.

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[ShinNoNoir]

Bug is still present in 4.8.0.20230708.