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Christopher Krah
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May 23, 2024
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,91 @@ | ||
| #include <cstdint> | ||
| #include <cv_bridge/cv_bridge.hpp> | ||
| #include <fuzzer/FuzzedDataProvider.h> | ||
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| #include "depthai-shared/common/CameraInfo.hpp" | ||
| #include <depthai/depthai.hpp> | ||
| #include <depthai_ctrl/ImageConverter.hpp> | ||
| #include <depthai_ctrl/ImgDetectionConverter.hpp> | ||
| #include <depthai_ctrl/ImuConverter.hpp> | ||
| #include <deque> | ||
| #include <iostream> | ||
| #include <memory> | ||
| #include <opencv4/opencv2/core.hpp> | ||
| #include <opencv4/opencv2/core/hal/interface.h> | ||
| #include <ratio> | ||
| #include <tuple> | ||
| #include <vector> | ||
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| extern "C" int LLVMFuzzerTestOneInput(const uint8_t *Data, size_t Size) { | ||
| FuzzedDataProvider dataProvider(Data, Size); | ||
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| auto inData = std::make_shared<dai::ImgFrame>(); | ||
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| unsigned int width = dataProvider.ConsumeIntegral<int64_t>(); | ||
| unsigned int height = dataProvider.ConsumeIntegral<int64_t>(); | ||
| unsigned int channelSize = dataProvider.ConsumeIntegral<int64_t>(); | ||
| size_t imageSize = width * height * channelSize; | ||
| std::vector<uint8_t> frameData = | ||
| dataProvider.ConsumeBytes<uint8_t>(imageSize); | ||
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| // Set the generated data to the ImgFrame object | ||
| inData->setWidth(width); | ||
| inData->setHeight(height); | ||
| inData->setData(frameData); | ||
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| // NOTE: Check if inData is populated | ||
| // Otherwise we're triggering an assert: | ||
| // what(): OpenCV(4.6.0) ./modules/imgcodecs/src/loadsave.cpp:816: error: | ||
| // (-215:Assertion failed) !buf.empty() in function 'imdecode_' | ||
| if (inData->getData().empty()) { | ||
| return 1; | ||
| } | ||
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| // NOTE: Another sanity check for: | ||
| // what(): OpenCV(4.6.0) | ||
| // /usr/include/opencv4/opencv2/core/utility.hpp:627: error: | ||
| // (-215:Assertion failed) !empty() in function 'forEach_impl' | ||
| if (width <= 0 || height <= 0) { | ||
| return 1; | ||
| } | ||
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| std::deque<dai::ros::ImageMsgs::Image> outImageMsgs; | ||
| dai::RawImgFrame::Type type; | ||
| switch (dataProvider.ConsumeIntegralInRange(0, 2)) { | ||
| case 0: | ||
| type = dai::RawImgFrame::Type::RAW8; | ||
| inData->setType(type); | ||
| break; | ||
| case 1: | ||
| type = dai::RawImgFrame::Type::GRAY8; | ||
| inData->setType(type); | ||
| break; | ||
| case 2: | ||
| type = dai::RawImgFrame::Type::BGR888i; | ||
| inData->setType(type); | ||
| break; | ||
| default: | ||
| return 0; | ||
| } | ||
| sensor_msgs::msg::CameraInfo info; | ||
| std::string frameName = dataProvider.ConsumeRandomLengthString(); | ||
| bool interleaved = dataProvider.ConsumeBool(); | ||
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| dai::ros::ImageConverter imageConverter(frameName, interleaved); | ||
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| try { | ||
| imageConverter.toRosMsgFromBitStream(inData, outImageMsgs, type, info); | ||
| } catch (const cv::Exception &e) { | ||
| return -1; | ||
| } | ||
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| // Check if the output image messages are valid | ||
| for (const auto &msg : outImageMsgs) { | ||
| if (msg.width <= 0 || msg.height <= 0 || msg.encoding.empty()) { | ||
| // Invalid output image message | ||
| return -1; | ||
| } | ||
| } | ||
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| return 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,62 @@ | ||
| #include <cv_bridge/cv_bridge.hpp> | ||
| #include <fuzzer/FuzzedDataProvider.h> | ||
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| #include "depthai-shared/common/CameraInfo.hpp" | ||
| #include <depthai/depthai.hpp> | ||
| #include <depthai_ctrl/ImageConverter.hpp> | ||
| #include <depthai_ctrl/ImgDetectionConverter.hpp> | ||
| #include <depthai_ctrl/ImuConverter.hpp> | ||
| #include <deque> | ||
| #include <memory> | ||
| #include <ratio> | ||
| #include <tuple> | ||
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| extern "C" int LLVMFuzzerTestOneInput(const uint8_t *Data, size_t Size) { | ||
| FuzzedDataProvider dataProvider(Data, Size); | ||
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| std::string frameName = dataProvider.ConsumeRandomLengthString(); | ||
| int width = dataProvider.ConsumeIntegral<int>(); | ||
| int height = dataProvider.ConsumeIntegral<int>(); | ||
| bool normalized = dataProvider.ConsumeBool(); | ||
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| dai::ros::ImgDetectionConverter detectionConverter(frameName, width, height, | ||
| normalized); | ||
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| auto inNetData = std::make_shared<dai::ImgDetections>(); | ||
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| // Determine the number of detections to generate | ||
| size_t numDetections = dataProvider.ConsumeIntegralInRange<size_t>(0, 10); | ||
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| // Generate random detections and add them to inNetData->detections | ||
| for (size_t i = 0; i < numDetections; ++i) { | ||
| dai::ImgDetection detection; | ||
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| detection.label = dataProvider.ConsumeIntegral<int>(); | ||
| detection.confidence = dataProvider.ConsumeFloatingPoint<float>(); | ||
| detection.xmin = dataProvider.ConsumeFloatingPoint<float>(); | ||
| detection.ymin = dataProvider.ConsumeFloatingPoint<float>(); | ||
| detection.xmax = dataProvider.ConsumeFloatingPoint<float>(); | ||
| detection.ymax = dataProvider.ConsumeFloatingPoint<float>(); | ||
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| inNetData->detections.push_back(detection); | ||
| } | ||
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| auto timestamp = | ||
| std::chrono::steady_clock::time_point(std::chrono::steady_clock::duration( | ||
| dataProvider.ConsumeIntegral<int64_t>())); | ||
| inNetData->setTimestamp(timestamp); | ||
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| auto timestampDevice = | ||
| std::chrono::steady_clock::time_point(std::chrono::steady_clock::duration( | ||
| dataProvider.ConsumeIntegral<int64_t>())); | ||
| inNetData->setTimestampDevice(timestampDevice); | ||
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| inNetData->setSequenceNum(dataProvider.ConsumeIntegral<int64_t>()); | ||
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| std::deque<dai::ros::VisionMsgs::Detection2DArray> opDetectionMsgs; | ||
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| detectionConverter.toRosMsg(inNetData, opDetectionMsgs); | ||
| auto rosMsgPtr = detectionConverter.toRosMsgPtr(inNetData); | ||
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| return 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,56 @@ | ||
| #include <cv_bridge/cv_bridge.hpp> | ||
| #include <fuzzer/FuzzedDataProvider.h> | ||
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| #include "depthai-shared/common/CameraInfo.hpp" | ||
| #include <depthai/depthai.hpp> | ||
| #include <depthai_ctrl/ImageConverter.hpp> | ||
| #include <depthai_ctrl/ImgDetectionConverter.hpp> | ||
| #include <depthai_ctrl/ImuConverter.hpp> | ||
| #include <deque> | ||
| #include <memory> | ||
| #include <ratio> | ||
| #include <tuple> | ||
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| extern "C" int LLVMFuzzerTestOneInput(const uint8_t *Data, size_t Size) { | ||
| FuzzedDataProvider dataProvider(Data, Size); | ||
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| std::string frameName = dataProvider.ConsumeRandomLengthString(); | ||
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| auto inData = std::make_shared<dai::IMUData>(); | ||
| // NOTE: Starting from 0 leads to an OOB access | ||
| size_t numPackets = dataProvider.ConsumeIntegralInRange<size_t>(1, 10); | ||
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| // Generate random packets and add them to inData->packets | ||
| for (size_t i = 0; i < numPackets; ++i) { | ||
| dai::IMUPacket packet; | ||
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| // Populate the fields of IMUPacket | ||
| packet.acceleroMeter.x = dataProvider.ConsumeFloatingPoint<float>(); | ||
| packet.acceleroMeter.y = dataProvider.ConsumeFloatingPoint<float>(); | ||
| packet.acceleroMeter.z = dataProvider.ConsumeFloatingPoint<float>(); | ||
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| packet.gyroscope.x = dataProvider.ConsumeFloatingPoint<float>(); | ||
| packet.gyroscope.y = dataProvider.ConsumeFloatingPoint<float>(); | ||
| packet.gyroscope.z = dataProvider.ConsumeFloatingPoint<float>(); | ||
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| packet.magneticField.x = dataProvider.ConsumeFloatingPoint<float>(); | ||
| packet.magneticField.y = dataProvider.ConsumeFloatingPoint<float>(); | ||
| packet.magneticField.z = dataProvider.ConsumeFloatingPoint<float>(); | ||
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| packet.rotationVector.i = dataProvider.ConsumeFloatingPoint<float>(); | ||
| packet.rotationVector.j = dataProvider.ConsumeFloatingPoint<float>(); | ||
| packet.rotationVector.k = dataProvider.ConsumeFloatingPoint<float>(); | ||
| packet.rotationVector.real = dataProvider.ConsumeFloatingPoint<float>(); | ||
| packet.rotationVector.rotationVectorAccuracy = | ||
| dataProvider.ConsumeFloatingPoint<float>(); | ||
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| inData->packets.push_back(packet); | ||
| } | ||
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| dai::ros::ImuConverter imuConverter(frameName); | ||
| dai::ros::ImuMsgs::Imu outImuMsg; | ||
| imuConverter.toRosMsg(inData, outImuMsg); | ||
| auto rosMsgPtr = imuConverter.toRosMsgPtr(inData); | ||
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| return 0; | ||
| } |