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Merge pull request #16405 from ganesh-k13:bugfix/solvepnp-crash

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Added type check for solvePnPGeneric | Issue: #16049

* Added type check

* Added checks before type fix

* Tests for 16049

* calib3d: update solvePnP regression check (16049)
This commit is contained in:
Ganesh Kathiresan 2020-01-23 17:53:03 +05:30 committed by Alexander Alekhin
parent f4147c99c8
commit 504cd8a9f5
2 changed files with 24 additions and 1 deletions
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20
modules/calib3d/misc/python/test/test_solvepnp.py
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@ -39,6 +39,26 @@ class solvepnp_test(NewOpenCVTests):
obj_points, img_points, cameraMatrix, distCoeffs, reprojectionError=r
)
def test_regression_16049(self):
obj_points = np.array([[0, 0, 0], [0, 1, 0], [1, 1, 0], [1, 0, 0]], dtype=np.float32)
img_points = np.array(
[[[700, 400], [700, 600], [900, 600], [900, 400]]], dtype=np.float32
)
cameraMatrix = np.array(
[[712.0634, 0, 800], [0, 712.540, 500], [0, 0, 1]], dtype=np.float32
)
distCoeffs = np.array([[0, 0, 0, 0]], dtype=np.float32)
x, r, t, e = cv.solvePnPGeneric(
obj_points, img_points, cameraMatrix, distCoeffs
)
if e is None:
# noArray() is supported, see https://github.com/opencv/opencv/issues/16049
pass
else:
eDump = cv.utils.dumpInputArray(e)
self.assertEqual(eDump, "InputArray: empty()=false kind=0x00010000 flags=0x01010000 total(-1)=1 dims(-1)=2 size(-1)=1x1 type(-1)=CV_32FC1")
if __name__ == '__main__':
NewOpenCVTests.bootstrap()

5
modules/calib3d/src/solvepnp.cpp
View File

@ -1009,7 +1009,10 @@ int solvePnPGeneric( InputArray _opoints, InputArray _ipoints,
if (reprojectionError.needed())
{
int type = reprojectionError.type();
int type = (reprojectionError.fixedType() || !reprojectionError.empty())
? reprojectionError.type()
: (max(_ipoints.depth(), _opoints.depth()) == CV_64F ? CV_64F : CV_32F);
reprojectionError.create(solutions, 1, type);
CV_CheckType(reprojectionError.type(), type == CV_32FC1 || type == CV_64FC1,
"Type of reprojectionError must be CV_32FC1 or CV_64FC1!");