Fix potential double free in vpMatrix and vpArray

example/math/quadprog.cpp

@@ -105,19 +105,15 @@ int main(int argc, char **argv)
   r = randV(o) * 5;
   C = randM(p, n) * 5;
 
-  std::cout << "DEBUG 1 before solveBySVD()" << std::endl;
     // make sure Cx <= d has a solution within Ax = b
   vpColVector x = A.solveBySVD(b);
-  std::cout << "DEBUG 2 after solveBySVD()" << std::endl;
   d = C * x;
   for (int i = 0; i < p; ++i)
     d[i] += (5. * rand()) / RAND_MAX;
 
   // solver with warm start
   vpQuadProg qp_WS;
 
-  std::cout << "DEBUG 3 after vpQuadProg()" << std::endl;
-
   // timing
   int total = 100;
   double t_WS(0), t_noWS(0);
@@ -146,9 +142,7 @@ int main(int argc, char **argv)
     vpQuadProg qp;
     x = 0;
     double t = vpTime::measureTimeMs();
-    std::cout << "DEBUG 4 before solveQP()" << std::endl;
     qp.solveQP(Q, r, A, b, C, d, x);
-    std::cout << "DEBUG 4 after solveQP()" << std::endl;
 
     t_noWS += vpTime::measureTimeMs() - t;
 #ifdef VISP_HAVE_DISPLAY
@@ -159,9 +153,7 @@ int main(int argc, char **argv)
     // with warm start
     x = 0;
     t = vpTime::measureTimeMs();
-    std::cout << "DEBUG 5 before solveQP()" << std::endl;
     qp_WS.solveQP(Q, r, A, b, C, d, x);
-    std::cout << "DEBUG 5 after solveQP()" << std::endl;
 
     t_WS += vpTime::measureTimeMs() - t;
 #ifdef VISP_HAVE_DISPLAY

example/math/quadprog_eq.cpp

@@ -106,22 +106,17 @@ int main(int argc, char **argv)
 
   // make sure Cx <= d has a solution within Ax = b
 
-  std::cout << "DEBUG 1 before solveBySVD()" << std::endl;
   vpColVector x = A.solveBySVD(b);
-  std::cout << "DEBUG 1 after solveBySVD()" << std::endl;
   d = C * x;
   for (int i = 0; i < p; ++i)
     d[i] += (5. * rand()) / RAND_MAX;
 
   // solver with stored equality and warm start
   vpQuadProg qp_WS;
-  std::cout << "DEBUG 2 before setEqualityConstraint()" << std::endl;
   qp_WS.setEqualityConstraint(A, b);
-  std::cout << "DEBUG 2 after setEqualityConstraint()" << std::endl;
 
   vpQuadProg qp_ineq_WS;
   qp_ineq_WS.setEqualityConstraint(A, b);
-  std::cout << "DEBUG 3 after setEqualityConstraint()" << std::endl;
 
   // timing
   int total = 100;
@@ -146,9 +141,7 @@ int main(int argc, char **argv)
     // without warm start
     x = 0;
     double t = vpTime::measureTimeMs();
-    std::cout << "DEBUG 4 before solveQPe()" << std::endl;
     vpQuadProg::solveQPe(Q, r, A, b, x);
-    std::cout << "DEBUG 4 after solveQPe()" << std::endl;
 
     t_noWS += vpTime::measureTimeMs() - t;
 #ifdef VISP_HAVE_DISPLAY
@@ -159,9 +152,7 @@ int main(int argc, char **argv)
     // with pre-solved Ax = b
     x = 0;
     t = vpTime::measureTimeMs();
-    std::cout << "DEBUG 5 before solveQPe()" << std::endl;
     qp_WS.solveQPe(Q, r, x);
-    std::cout << "DEBUG 5 after solveQPe()" << std::endl;
 
     t_WS += vpTime::measureTimeMs() - t;
 #ifdef VISP_HAVE_DISPLAY
@@ -174,9 +165,7 @@ int main(int argc, char **argv)
     x = 0;
     vpQuadProg qp;
     t = vpTime::measureTimeMs();
-    std::cout << "DEBUG 6 before solveQP()" << std::endl;
     qp.solveQP(Q, r, A, b, C, d, x);
-    std::cout << "DEBUG 6 after solveQP()" << std::endl;
 
     t_ineq_noWS += vpTime::measureTimeMs() - t;
 #ifdef VISP_HAVE_DISPLAY
@@ -187,9 +176,7 @@ int main(int argc, char **argv)
     // with warm start + pre-solving
     x = 0;
     t = vpTime::measureTimeMs();
-    std::cout << "DEBUG 7 before solveQPi()" << std::endl;
     qp_ineq_WS.solveQPi(Q, r, C, d, x, true);
-    std::cout << "DEBUG 7 after solveQPi()" << std::endl;
 
     t_ineq_WS += vpTime::measureTimeMs() - t;
 #ifdef VISP_HAVE_DISPLAY

modules/core/include/visp3/core/vpArray2D.h

@@ -320,10 +320,13 @@ template <class Type> class vpArray2D
 
       // Reallocation of this->data array
       this->dsize = nrows * ncols;
-      Type *tmp_data = (Type *)realloc(this->data, this->dsize * sizeof(Type));
+      Type *tmp_data = reinterpret_cast<Type *>(realloc(this->data, this->dsize * sizeof(Type)));
       if (tmp_data) {
         this->data = tmp_data;
       }
+      else {
+        this->data = nullptr;
+      }
 
       if ((nullptr == this->data) && (0 != this->dsize)) {
         if (copyTmp != nullptr) {
@@ -332,10 +335,13 @@ template <class Type> class vpArray2D
         throw(vpException(vpException::memoryAllocationError, "Memory allocation error when allocating 2D array data"));
       }
 
-      Type **tmp_rowPtrs = (Type **)realloc(this->rowPtrs, nrows * sizeof(Type *));
+      Type **tmp_rowPtrs = reinterpret_cast<Type **>(realloc(this->rowPtrs, nrows * sizeof(Type *)));
       if (tmp_rowPtrs) {
         this->rowPtrs = tmp_rowPtrs;
       }
+      else {
+        this->rowPtrs = nullptr;
+      }
       if ((nullptr == this->rowPtrs) && (0 != this->dsize)) {
         if (copyTmp != nullptr) {
           delete[] copyTmp;
@@ -472,8 +478,12 @@ template <class Type> class vpArray2D
   vpArray2D<Type> &operator=(vpArray2D<Type> &&other) noexcept
   {
     if (this != &other) {
-      free(data);
-      free(rowPtrs);
+      if (data) {
+        free(data);
+      }
+      if (rowPtrs) {
+        free(rowPtrs);
+      }
 
       rowNum = other.rowNum;
       colNum = other.colNum;

modules/core/src/math/matrix/vpMatrix.cpp

@@ -681,8 +681,12 @@ vpMatrix &vpMatrix::operator=(const vpMatrix &A)
 vpMatrix &vpMatrix::operator=(vpMatrix &&other)
 {
   if (this != &other) {
-    free(data);
-    free(rowPtrs);
+    if (data) {
+      free(data);
+    }
+    if (rowPtrs) {
+      free(rowPtrs);
+    }
 
     rowNum = other.rowNum;
     colNum = other.colNum;

modules/core/test/math/testMatrix.cpp

@@ -53,6 +53,29 @@
 
 namespace
 {
+bool test_memory(unsigned int nrows, unsigned int ncols, const vpMatrix &M, const std::string &matrix_name, bool pointer_is_null)
+{
+  if (pointer_is_null) {
+    if (M.data) {
+      std::cerr << "Wrong data pointer (" << M.data << ") in matrix " << matrix_name << ": should be null" << std::endl;
+    }
+  }
+  else {
+    if (!M.data) {
+      std::cerr << "Wrong data pointer (" << M.data << ") in matrix " << matrix_name << ": should be non null" << std::endl;
+      return false;
+    }
+  }
+
+  if (M.getRows() != nrows || M.getCols() != ncols) {
+    std::cerr << "Wrong matrix " << matrix_name << "(" << nrows << ", " << ncols << " size: "
+      << M.getRows() << " x " << M.getCols() << std::endl;
+    return false;
+  }
+  std::cout << "Test matrix " << matrix_name << " succeed" << std::endl;
+  return true;
+}
+
 bool test(const std::string &s, const vpMatrix &M, const std::vector<double> &bench)
 {
   static unsigned int cpt = 0;
@@ -122,6 +145,28 @@ int main(int argc, char *argv[])
       }
     }
 
+    {
+      unsigned int nrows = 2, ncols = 3;
+      vpMatrix A(nrows, ncols);
+      if (test_memory(nrows, ncols, A, "A", false) == false) {
+        return EXIT_FAILURE;
+      }
+      vpMatrix B, C;
+      if (test_memory(0, 0, B, "B", true) == false) {
+        return EXIT_FAILURE;
+      }
+      if (test_memory(0, 0, C, "C", true)== false) {
+        return EXIT_FAILURE;
+      }
+      B = A;
+      if (test_memory(nrows, ncols, B, "B", false)== false) {
+        return EXIT_FAILURE;
+      }
+      B = C;
+      if (test_memory(0, 0, C, "C", true)== false) {
+        return EXIT_FAILURE;
+      }
+    }
     {
       const double val = 10.0;
       vpMatrix M, M2(5, 5, val);