mirror/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2025-01-19 06:53:50 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Fixed assertions on ippe solver

Browse Source
This commit is contained in:
Nathan Godwin 2020-09-21 21:56:28 -05:00
parent 5e90802b1a
commit 2f9072efdc
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
modules/calib3d/src/ippe.cpp
View File

@ -77,18 +77,18 @@ void PoseSolver::solveGeneric(InputArray _objectPoints, InputArray _normalizedIn
OutputArray _Ma, OutputArray _Mb)
{
//argument checking:
size_t n = static_cast<size_t>(_objectPoints.rows() * _objectPoints.cols()); //number of points
size_t n = static_cast<size_t>(_normalizedInputPoints.rows()) * static_cast<size_t>(_normalizedInputPoints.cols()); //number of points
int objType = _objectPoints.type();
int type_input = _normalizedInputPoints.type();
CV_CheckType(objType, objType == CV_32FC3 || objType == CV_64FC3,
"Type of _objectPoints must be CV_32FC3 or CV_64FC3" );
CV_CheckType(type_input, type_input == CV_32FC2 || type_input == CV_64FC2,
"Type of _normalizedInputPoints must be CV_32FC3 or CV_64FC3" );
"Type of _normalizedInputPoints must be CV_32FC2 or CV_64FC2" );
CV_Assert(_objectPoints.rows() == 1 || _objectPoints.cols() == 1);
CV_Assert(_objectPoints.rows() >= 4 || _objectPoints.cols() >= 4);
CV_Assert(_normalizedInputPoints.rows() == 1 || _normalizedInputPoints.cols() == 1);
CV_Assert(static_cast<size_t>(_objectPoints.rows() * _objectPoints.cols()) == n);
CV_Assert(static_cast<size_t>(_objectPoints.rows()) * static_cast<size_t>(_objectPoints.cols()) == n);
Mat normalizedInputPoints;
if (type_input == CV_32FC2)
@ -101,7 +101,7 @@ void PoseSolver::solveGeneric(InputArray _objectPoints, InputArray _normalizedIn
}
Mat objectInputPoints;
if (type_input == CV_32FC3)
if (objType == CV_32FC3)
{
_objectPoints.getMat().convertTo(objectInputPoints, CV_64F);
}