Merge pull request #16242 from catree:add_Rodrigues_input_shape_check

modules/calib3d/src/calibration.cpp

@@ -250,8 +250,6 @@ CV_IMPL void cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
 
 CV_IMPL int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian )
 {
-    int depth, elem_size;
-    int i, k;
     double J[27] = {0};
     CvMat matJ = cvMat( 3, 9, CV_64F, J );
 
@@ -262,8 +260,8 @@ CV_IMPL int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian )
         CV_Error( !dst ? CV_StsNullPtr : CV_StsBadArg,
         "The first output argument is not a valid matrix" );
 
-    depth = CV_MAT_DEPTH(src->type);
-    elem_size = CV_ELEM_SIZE(depth);
+    int depth = CV_MAT_DEPTH(src->type);
+    int elem_size = CV_ELEM_SIZE(depth);
 
     if( depth != CV_32F && depth != CV_64F )
         CV_Error( CV_StsUnsupportedFormat, "The matrices must have 32f or 64f data type" );
@@ -349,12 +347,12 @@ CV_IMPL int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian )
                 double d_r_x_[] = { 0, 0, 0, 0, 0, -1, 0, 1, 0,
                                     0, 0, 1, 0, 0, 0, -1, 0, 0,
                                     0, -1, 0, 1, 0, 0, 0, 0, 0 };
-                for( i = 0; i < 3; i++ )
+                for( int i = 0; i < 3; i++ )
                 {
                     double ri = i == 0 ? r.x : i == 1 ? r.y : r.z;
                     double a0 = -s*ri, a1 = (s - 2*c1*itheta)*ri, a2 = c1*itheta;
                     double a3 = (c - s*itheta)*ri, a4 = s*itheta;
-                    for( k = 0; k < 9; k++ )
+                    for( int k = 0; k < 9; k++ )
                         J[i*9+k] = a0*I[k] + a1*rrt.val[k] + a2*drrt[i*9+k] +
                                    a3*r_x.val[k] + a4*d_r_x_[i*9+k];
                 }
@@ -490,6 +488,10 @@ CV_IMPL int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian )
             dst->data.db[step*2] = r.z;
         }
     }
+    else
+    {
+        CV_Error(CV_StsBadSize, "Input matrix must be 1x3 or 3x1 for a rotation vector, or 3x3 for a rotation matrix");
+    }
 
     if( jacobian )
     {
@@ -3219,6 +3221,10 @@ void cv::Rodrigues(InputArray _src, OutputArray _dst, OutputArray _jacobian)
     CV_INSTRUMENT_REGION();
 
     Mat src = _src.getMat();
+    CV_Check(src.rows, (src.rows == 1 && src.cols == 3) || (src.rows == 3 && src.cols == 1) ||
+            (src.rows == 1 && src.cols == 1 && src.channels() == 3) || (src.rows == 3 && src.cols == 3),
+             "Input matrix must be 1x3 or 3x1 for a rotation vector, or 3x3 for a rotation matrix");
+
     bool v2m = src.cols == 1 || src.rows == 1;
     _dst.create(3, v2m ? 3 : 1, src.depth());
     Mat dst = _dst.getMat();