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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/src/undistort.cpp
+9 -3
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@@ -561,10 +561,16 @@ void cv::undistortPoints( InputArray _src, OutputArray _dst,
Mat src = _src.getMat(), cameraMatrix = _cameraMatrix.getMat();
Mat distCoeffs = _distCoeffs.getMat(), R = _Rmat.getMat(), P = _Pmat.getMat();
CV_Assert( src.isContinuous() && (src.depth() == CV_32F || src.depth() == CV_64F) &&
((src.rows == 1 && src.channels() == 2) || src.cols*src.channels() == 2));
int npoints = src.checkVector(2), depth = src.depth();
if (npoints < 0)
src = src.t();
npoints = src.checkVector(2);
CV_Assert(npoints >= 0 && src.isContinuous() && (depth == CV_32F || depth == CV_64F));
_dst.create(src.size(), src.type(), -1, true);
if (src.cols == 2)
src = src.reshape(2);
_dst.create(npoints, 1, CV_MAKETYPE(depth, 2), -1, true);
Mat dst = _dst.getMat();
CvMat _csrc = cvMat(src), _cdst = cvMat(dst), _ccameraMatrix = cvMat(cameraMatrix);