fix: connect_parts zeros M*C entries in P*C objects buffer

[andrewwhitecdw]

This PR addresses the following issue in trt_pose/parse/connect_parts.cpp: connect_parts zeros MC entries in PC objects buffer.

Changes

• trt_pose/parse/connect_parts.cpp: connect_parts zeros MC entries in PC objects buffer.

Details

--- a/trt_pose/parse/connect_parts.cpp
+++ b/trt_pose/parse/connect_parts.cpp
@@ -1,4 +1,4 @@
-  // initialize objects
-  for (int i = 0; i < C * M; i++) {
-    objects[i] = -1;
-  }
+  // initialize objects
+  for (int i = 0; i < P * C; i++) {
+    objects[i] = -1;
+  }

Tests

• tests/test_connect_parts.cpp

--- /dev/null
+++ b/tests/test_connect_parts.cpp
@@ -0,0 +1,35 @@
+#include "connect_parts.hpp"
+#include <cassert>
+#include <cstddef>
+#include <cstdint>
+
+using namespace trt_pose::parse;
+
+int main() {
+  // Use M > P so the old C*M initialization would overrun the objects buffer.
+  const int K = 0;
+  const int C = 4;
+  const int M = 10;
+  const int P = 3;
+
+  int object_counts = -1;
+  int objects[P * C + 2];
+  int connections[1];
+  int topology[1];
+  int counts[C] = {0, 0, 0, 0};
+  int workspace[C * M];
+
+  // Place sentinel values past the end of the P*C objects buffer.
+  objects[P * C + 0] = 0xDEADBEEF;
+  objects[P * C + 1] = 0xCAFEBABE;
+
+  connect_parts_out(&object_counts, objects, connections, topology, counts,
+                    K, C, M, P, workspace);
+
+  assert(object_counts == 0);
+  assert(objects[P * C + 0] == 0xDEADBEEF);
+  assert(objects[P * C + 1] == 0xCAFEBABE);
+
+  return 0;
+}