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Added support of the CV_64F depth to solvePnP (ticket #835)

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This commit is contained in:
Ilya Lysenkov 2011-06-01 08:14:59 +00:00
parent e4bbcdac17
commit aa3dada2fe
1 changed files with 2 additions and 2 deletions
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modules/calib3d/src/solvepnp.cpp
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@ -48,8 +48,8 @@ void cv::solvePnP( const InputArray& _opoints, const InputArray& _ipoints,
OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess ) OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess )
{ {
Mat opoints = _opoints.getMat(), ipoints = _ipoints.getMat(); Mat opoints = _opoints.getMat(), ipoints = _ipoints.getMat();
int npoints = opoints.checkVector(3, CV_32F); int npoints = std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
CV_Assert( npoints >= 0 && npoints == ipoints.checkVector(2, CV_32F) ); CV_Assert( npoints >= 0 && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) );
_rvec.create(3, 1, CV_64F); _rvec.create(3, 1, CV_64F);
_tvec.create(3, 1, CV_64F); _tvec.create(3, 1, CV_64F);