Stack around the variable Opencv & C++

edit savecancel

Hi! I'm working in a project with particle filter. This is a snippet of my code. When the program is executing, when leave this function VS2013 tell me a error: "Run-Time Check Failure #2 - Stack around the variable 'idx' was corrupted." Do you want any idea what is the problem??

Thanks you!

PS: additional info. If I execute the program in release mode it problem disappear...

void Particles::mergeClusters(cv::Mat image) {

    cv::Mat ids_new(0, 0, CV_32SC1);
    cv::Mat means_new(0, 0, CV_64FC1);
    vector<cv::Mat> covs_new(0);
    cv::Mat weights_new(0, 0, CV_64FC1);

    cv::Mat ids(0, 0, CV_32SC1);
    cv::Mat means(0, 0, CV_64FC1);
    vector<cv::Mat> covs(0);
    cv::Mat weights(0, 0, CV_64FC1);

    // temporary objects used to store non-chosen elements
    // this is the set I in the paper of Vo (Table II)
    clusters.ids.copyTo(ids);
    clusters.means.copyTo(means);
    clusters.covs.swap(covs);
    clusters.weights.copyTo(weights);

    int l = 0;
    while (!means.empty()) {

        cv::Mat means_t(0, 0, CV_64FC1);
        cv::Mat weights_t(0, 0, CV_64FC1);
        vector<cv::Mat> covs_t(0);

        int idx = 0;
        cv::minMaxIdx(weights, NULL, NULL, NULL, &idx);

        cv::Mat m_t(0, 0, CV_64FC1);
        cv::Mat w_t(0, 0, CV_64FC1);
        vector<cv::Mat> c_t(0);

        vector<int> L(0);

        for (int j=0; j<means.rows; j++) {
            cv::Mat u = (means.row(j)-means.row(idx)) * covs[j].inv() * (means.row(j)-means.row(idx)).t();
            if (u.at<double>(0) <= param.U) {
                m_t.push_back(means.row(j));
                w_t.push_back(weights.row(j));
                c_t.push_back(covs[j]);
                L.push_back(j);
            }
            else {
                means_t.push_back(means.row(j));
                weights_t.push_back(weights.row(j));
                covs_t.push_back(covs[j]);
            }
        }

        // Weight
        double W = sum(w_t)[0];
        // Mean
        cv::Mat M(0, 0, CV_64FC1);
        cv::repeat(w_t, 1, m_t.cols, M);
        cv::multiply(M, m_t, M);
        cv::reduce(M, M, 0, CV_REDUCE_SUM);
        cv::divide(M, W, M);
        // Covariance
        cv::Mat C(0, 0, CV_64FC1);
        C = cv::Mat::zeros(covs[0].rows, covs[0].cols, CV_64FC1);
        for (int k=0; k<m_t.rows; k++) {
            C = C + w_t.at<double>(k) * (covs[k] + ((M-m_t.row(k)).t() * (M-m_t.row(k))) );
        }
        cv::divide(C, W, C);

        ids_new.push_back(idx);
        means_new.push_back(M);
        covs_new.push_back(C);
        weights_new.push_back(W);

        l++;

        // update I
        means.release();
        weights.release();
        covs.clear();

        means_t.copyTo(means);
        weights_t.copyTo(weights);
        covs_t.swap(covs);

        means_t.release();
        weights_t.release();
        covs_t.clear();
    }

    ids_new.copyTo(clusters.ids);
    means_new.copyTo(clusters.means);
    weights_new.copyTo(clusters.weights);
    covs_new.swap(clusters.covs);
}