AFL++实战（八）-测试Lane Detection

Lane detection

一个使用C ++和OpenCV的简单车道检测器，用于识别车道并对其进行跟踪。检测车道并跟踪该点的运动，以确定车辆是否在转弯或正在改变坡度。项目源码

lane detection的下载

#安装opencv4.0及以上
#安装cmake3.0以上版本
git clone https://github.com/Nakalski/LaneDetection.git

有源码测试

测试代码

int main(int argc, char **argv)
{
    const int lowThreshold = 20;
    const int ratio = 3;
    cv::VideoCapture cap;
    std::string path = std::string(argv[1]);
    //std::string path = "Videos/2.avi";
    cap.open(path);
    cv::Point2f obj_pts[4], img_pts[4];
    img_pts[0].x = 150;
    img_pts[0].y = 280; //B
    img_pts[1].x = 50;
    img_pts[1].y = 340; //G
    img_pts[2].x = 530;
    img_pts[2].y = 280; //R
    img_pts[3].x = 630;
    img_pts[3].y = 340; //Y
    obj_pts[0].x = 0;
    obj_pts[0].y = 0;
    obj_pts[1].x = 0;
    obj_pts[1].y = Y_warped;
    obj_pts[2].x = X_warped;
    obj_pts[2].y = 0;
    obj_pts[3].x = X_warped;
    obj_pts[3].y = Y_warped;
    int n;
    cv::Mat matrix, warped, gray, th, sum, inverted_matrix, frame, reduced_res, canny_test, mask, masked_drawed_lines, teste;
    matrix = cv::getPerspectiveTransform(img_pts, obj_pts);
    Mat invertedPerspectiveMatrix;
    invert(matrix, invertedPerspectiveMatrix);
    for (;;)
    {
        cap >> frame;
        if (frame.empty())
            break;
        std::vector<cv::Vec4i> lines;
        cv::pyrDown(frame, reduced_res);

        /*cv::circle(reduced_res, img_pts[0], 1, cv::Scalar(255, 0, 0), 3);
        cv::circle(reduced_res, img_pts[1], 1, cv::Scalar(0, 255, 0), 3);       
        cv::circle(reduced_res, img_pts[2], 1, cv::Scalar(0, 0, 255), 3);      
        cv::circle(reduced_res, img_pts[3], 1, cv::Scalar(0, 255, 255), 3); */

        cv::warpPerspective(reduced_res, warped, matrix, cv::Size(X_warped, Y_warped));
        cv::cvtColor(warped, gray, cv::COLOR_RGB2GRAY);
        cv::Canny(warped, canny_test, lowThreshold, lowThreshold * ratio, 3, true);
        cv::dilate(canny_test, mask, Mat(), Point(-1, -1), 1, 1, 1);
        cv::morphologyEx(mask, mask, cv::MORPH_CLOSE, cv::getStructuringElement(cv::MORPH_RECT, cv::Size(10, 10)));
        cv::morphologyEx(mask, mask, cv::MORPH_CLOSE, cv::getStructuringElement(cv::MORPH_RECT, cv::Size(10, 10)));
        cv::threshold(gray, th, 0, 255, cv::THRESH_BINARY | cv::THRESH_OTSU);
        cv::bitwise_and(th, mask, teste); /// MAS
        vector<Point2f> pts = slidingWindow(teste, Rect(0,210,60,30));
        vector<Point> allPts;
        vector<Point2f> outPts;
        cv::perspectiveTransform(pts, outPts, invertedPerspectiveMatrix);
        for (int i = 0; i < outPts.size() - 1; ++i)
        {
            cv::line(reduced_res, outPts[i], outPts[i + 1], Scalar(255, 0, 0), 3);
            allPts.push_back(Point(outPts[i].x, outPts[i].y));
        }
        allPts.push_back(Point(outPts[outPts.size() - 1].x, outPts[outPts.size() - 1].y));
        Mat out;
        cv::cvtColor(teste, out, COLOR_GRAY2BGR);
        for (int i = 0; i < pts.size() - 1; ++i) 
            line(out, pts[i], pts[i + 1], Scalar(255, 0, 0));
        pts = slidingWindow(teste, Rect(260, 210, 60, 30));
        cv::perspectiveTransform(pts, outPts, invertedPerspectiveMatrix);
        for (int i = 0; i < outPts.size() - 1; ++i)
        {
            line(reduced_res, outPts[i], outPts[i + 1], Scalar(0, 0, 255), 3);
            allPts.push_back(Point(outPts[outPts.size() - i - 1].x, outPts[outPts.size() - i - 1].y));
        }
        allPts.push_back(Point(outPts[0].x - (outPts.size() - 1) , outPts[0].y));
        for (int i = 0; i < pts.size() - 1; ++i)
            line(out, pts[i], pts[i + 1], Scalar(0, 0, 255));
        vector<vector<Point>> arr;
        arr.push_back(allPts);
        Mat overlay = Mat::zeros(reduced_res.size(), reduced_res.type());
        cv::fillPoly(overlay, arr, Scalar(0, 255, 100));
        cv::addWeighted(reduced_res, 1, overlay, 0.5, 0, reduced_res); //Overlay it
        cv::imshow("Preprocess", out);
        cv::imshow("src", reduced_res);
        cv::imshow("WarpedPerspective", gray);
        if (cv::waitKey(33) >= 0)
            break;
    }
    return 0;
}

配置

对于完整的项目，需要将编译器指定为 afl-clang，然后再进行编译。

export CC=afl-clang
export CXX=afl-clang++
mkdir build
cd build
cmake ../
make -j4

fuzz

正式执行 fuzz 测试的命令如下:

mkdir in
# 在in文件下下创建image语料库，使用png.dict字典
# https://github.com/AFLplusplus/AFLplusplus/tree/stable/dictionaries
afl-fuzz  -x dict/png.dict -m none -i in -o out_res ./Main @@

测试结果