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Merge pull request #18378 from nathanrgodwin:ippe_fix

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This commit is contained in:
Alexander Alekhin 2020-09-23 09:13:48 +00:00
commit 9cfe981e1f
1 changed files with 4 additions and 4 deletions
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8
modules/calib3d/src/ippe.cpp
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@ -77,18 +77,18 @@ void PoseSolver::solveGeneric(InputArray _objectPoints, InputArray _normalizedIn
OutputArray _Ma, OutputArray _Mb) OutputArray _Ma, OutputArray _Mb)
{ {
//argument checking: //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 objType = _objectPoints.type();
int type_input = _normalizedInputPoints.type(); int type_input = _normalizedInputPoints.type();
CV_CheckType(objType, objType == CV_32FC3 || objType == CV_64FC3, CV_CheckType(objType, objType == CV_32FC3 || objType == CV_64FC3,
"Type of _objectPoints must be CV_32FC3 or CV_64FC3" ); "Type of _objectPoints must be CV_32FC3 or CV_64FC3" );
CV_CheckType(type_input, type_input == CV_32FC2 || type_input == CV_64FC2, 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() == 1 || _objectPoints.cols() == 1);
CV_Assert(_objectPoints.rows() >= 4 || _objectPoints.cols() >= 4); CV_Assert(_objectPoints.rows() >= 4 || _objectPoints.cols() >= 4);
CV_Assert(_normalizedInputPoints.rows() == 1 || _normalizedInputPoints.cols() == 1); 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; Mat normalizedInputPoints;
if (type_input == CV_32FC2) if (type_input == CV_32FC2)
@ -101,7 +101,7 @@ void PoseSolver::solveGeneric(InputArray _objectPoints, InputArray _normalizedIn
} }
Mat objectInputPoints; Mat objectInputPoints;
if (type_input == CV_32FC3) if (objType == CV_32FC3)
{ {
_objectPoints.getMat().convertTo(objectInputPoints, CV_64F); _objectPoints.getMat().convertTo(objectInputPoints, CV_64F);
} }