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Merge pull request #16242 from catree:add_Rodrigues_input_shape_check

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This commit is contained in:
Alexander Alekhin 2019-12-27 13:12:03 +00:00
commit d16cf68a3b
1 changed files with 12 additions and 6 deletions
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18
modules/calib3d/src/calibration.cpp
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@ -250,8 +250,6 @@ CV_IMPL void cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
CV_IMPL int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian ) CV_IMPL int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian )
{ {
int depth, elem_size;
int i, k;
double J[27] = {0}; double J[27] = {0};
CvMat matJ = cvMat( 3, 9, CV_64F, J ); CvMat matJ = cvMat( 3, 9, CV_64F, J );
@ -262,8 +260,8 @@ CV_IMPL int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian )
CV_Error( !dst ? CV_StsNullPtr : CV_StsBadArg, CV_Error( !dst ? CV_StsNullPtr : CV_StsBadArg,
"The first output argument is not a valid matrix" ); "The first output argument is not a valid matrix" );
depth = CV_MAT_DEPTH(src->type); int depth = CV_MAT_DEPTH(src->type);
elem_size = CV_ELEM_SIZE(depth); int elem_size = CV_ELEM_SIZE(depth);
if( depth != CV_32F && depth != CV_64F ) if( depth != CV_32F && depth != CV_64F )
CV_Error( CV_StsUnsupportedFormat, "The matrices must have 32f or 64f data type" ); CV_Error( CV_StsUnsupportedFormat, "The matrices must have 32f or 64f data type" );
@ -349,12 +347,12 @@ CV_IMPL int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian )
double d_r_x_[] = { 0, 0, 0, 0, 0, -1, 0, 1, 0, double d_r_x_[] = { 0, 0, 0, 0, 0, -1, 0, 1, 0,
0, 0, 1, 0, 0, 0, -1, 0, 0, 0, 0, 1, 0, 0, 0, -1, 0, 0,
0, -1, 0, 1, 0, 0, 0, 0, 0 }; 0, -1, 0, 1, 0, 0, 0, 0, 0 };
for( i = 0; i < 3; i++ ) for( int i = 0; i < 3; i++ )
{ {
double ri = i == 0 ? r.x : i == 1 ? r.y : r.z; double ri = i == 0 ? r.x : i == 1 ? r.y : r.z;
double a0 = -s*ri, a1 = (s - 2*c1*itheta)*ri, a2 = c1*itheta; double a0 = -s*ri, a1 = (s - 2*c1*itheta)*ri, a2 = c1*itheta;
double a3 = (c - s*itheta)*ri, a4 = s*itheta; double a3 = (c - s*itheta)*ri, a4 = s*itheta;
for( k = 0; k < 9; k++ ) for( int k = 0; k < 9; k++ )
J[i*9+k] = a0*I[k] + a1*rrt.val[k] + a2*drrt[i*9+k] + J[i*9+k] = a0*I[k] + a1*rrt.val[k] + a2*drrt[i*9+k] +
a3*r_x.val[k] + a4*d_r_x_[i*9+k]; a3*r_x.val[k] + a4*d_r_x_[i*9+k];
} }
@ -490,6 +488,10 @@ CV_IMPL int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian )
dst->data.db[step*2] = r.z; dst->data.db[step*2] = r.z;
} }
} }
else
{
CV_Error(CV_StsBadSize, "Input matrix must be 1x3 or 3x1 for a rotation vector, or 3x3 for a rotation matrix");
}
if( jacobian ) if( jacobian )
{ {
@ -3219,6 +3221,10 @@ void cv::Rodrigues(InputArray _src, OutputArray _dst, OutputArray _jacobian)
CV_INSTRUMENT_REGION(); CV_INSTRUMENT_REGION();
Mat src = _src.getMat(); Mat src = _src.getMat();
CV_Check(src.rows, (src.rows == 1 && src.cols == 3) || (src.rows == 3 && src.cols == 1) ||
(src.rows == 1 && src.cols == 1 && src.channels() == 3) || (src.rows == 3 && src.cols == 3),
"Input matrix must be 1x3 or 3x1 for a rotation vector, or 3x3 for a rotation matrix");
bool v2m = src.cols == 1 || src.rows == 1; bool v2m = src.cols == 1 || src.rows == 1;
_dst.create(3, v2m ? 3 : 1, src.depth()); _dst.create(3, v2m ? 3 : 1, src.depth());
Mat dst = _dst.getMat(); Mat dst = _dst.getMat();