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Merge pull request #10184 from catree:solvePnP_iterative_guess_3_pts

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Alexander Alekhin
2017-11-29 18:24:04 +00:00
parent a79d0e19ad 2e56a47f8c
commit e703c3090a
3 changed files with 80 additions and 14 deletions
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modules/calib3d/src/solvepnp.cpp
+2 -1
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@@ -61,7 +61,8 @@ bool solvePnP( InputArray _opoints, InputArray _ipoints,
Mat opoints = _opoints.getMat(), ipoints = _ipoints.getMat();
int npoints = std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
CV_Assert( npoints >= 4 && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) );
CV_Assert( ( (npoints >= 4) || (npoints == 3 && flags == SOLVEPNP_ITERATIVE && useExtrinsicGuess) )
&& npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) );
Mat rvec, tvec;
if( flags != SOLVEPNP_ITERATIVE )