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calib3d: Fix calibrateCamera() misleading error

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objectPoints and imagePoints are not checked whether they're empty and
cause checkVector() to fail, thus result in a wrong error message.

Fixes: https://github.com/opencv/opencv/issues/6002
This commit is contained in:
Thang Tran 2019-02-11 22:07:30 +01:00 committed by Alexander Alekhin
parent 5f57842575
commit a1f4e65d03
1 changed files with 9 additions and 2 deletions
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11
modules/calib3d/src/calibration.cpp
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@ -3141,10 +3141,17 @@ static void collectCalibrationData( InputArrayOfArrays objectPoints,
for( i = 0; i < nimages; i++ ) for( i = 0; i < nimages; i++ )
{ {
ni = objectPoints.getMat(i).checkVector(3, CV_32F); Mat objectPoint = objectPoints.getMat(i);
if (objectPoint.empty())
CV_Error(CV_StsBadSize, "objectPoints should not contain empty vector of vectors of points");
ni = objectPoint.checkVector(3, CV_32F);
if( ni <= 0 ) if( ni <= 0 )
CV_Error(CV_StsUnsupportedFormat, "objectPoints should contain vector of vectors of points of type Point3f"); CV_Error(CV_StsUnsupportedFormat, "objectPoints should contain vector of vectors of points of type Point3f");
int ni1 = imagePoints1.getMat(i).checkVector(2, CV_32F);
Mat imagePoint1 = imagePoints1.getMat(i);
if (imagePoint1.empty())
CV_Error(CV_StsBadSize, "imagePoints1 should not contain empty vector of vectors of points");
int ni1 = imagePoint1.checkVector(2, CV_32F);
if( ni1 <= 0 ) if( ni1 <= 0 )
CV_Error(CV_StsUnsupportedFormat, "imagePoints1 should contain vector of vectors of points of type Point2f"); CV_Error(CV_StsUnsupportedFormat, "imagePoints1 should contain vector of vectors of points of type Point2f");
CV_Assert( ni == ni1 ); CV_Assert( ni == ni1 );