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Fix issue with solvePnPRansac and Nx3 1-channel input when the number of points is 5. Try to uniform the input shape of projectPoints and undistortPoints.

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catree
2019-04-29 17:23:23 +02:00
parent a433394870
commit 7ed858e38e
9 changed files with 763 additions and 12 deletions
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modules/imgproc/include/opencv2/imgproc.hpp
+6 -6
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@@ -3116,9 +3116,9 @@ point coordinates out of the normalized distorted point coordinates ("normalized
coordinates do not depend on the camera matrix).
The function can be used for both a stereo camera head or a monocular camera (when R is empty).
@param src Observed point coordinates, 1xN or Nx1 2-channel (CV_32FC2 or CV_64FC2).
@param dst Output ideal point coordinates after undistortion and reverse perspective
@param src Observed point coordinates, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel (CV_32FC2 or CV_64FC2) (or
vector\<Point2f\> ).
@param dst Output ideal point coordinates (1xN/Nx1 2-channel or vector\<Point2f\> ) after undistortion and reverse perspective
transformation. If matrix P is identity or omitted, dst will contain normalized point coordinates.
@param cameraMatrix Camera matrix \f$\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ .
@param distCoeffs Input vector of distortion coefficients
@@ -3131,14 +3131,14 @@ of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion
*/
CV_EXPORTS_W void undistortPoints( InputArray src, OutputArray dst,
InputArray cameraMatrix, InputArray distCoeffs,
InputArray R = noArray(), InputArray P = noArray());
InputArray R = noArray(), InputArray P = noArray() );
/** @overload
@note Default version of #undistortPoints does 5 iterations to compute undistorted points.
*/
CV_EXPORTS_AS(undistortPointsIter) void undistortPoints( InputArray src, OutputArray dst,
InputArray cameraMatrix, InputArray distCoeffs,
InputArray R, InputArray P, TermCriteria criteria);
InputArray cameraMatrix, InputArray distCoeffs,
InputArray R, InputArray P, TermCriteria criteria );
//! @} imgproc_transform