Java API: new converters, findFundamentalMat/cornerSubPix/findHomography/solvePnP/solvePnPRansac and their tests are updated

modules/java/android_test/src/org/opencv/test/calib3d/calib3dTest.java

@@ -261,7 +261,7 @@ public class calib3dTest extends OpenCVTestCase {
             pts2.add(new Point(x, y));
         }
         
-        Mat fm = Calib3d.findFundamentalMat(Converters.vector_Point2f_to_Mat(pts1), Converters.vector_Point2f_to_Mat(pts2));
+        Mat fm = Calib3d.findFundamentalMat(pts1, pts2);
         
         truth = new Mat(3,3,CvType.CV_64F);
         truth.put(0, 0, 0, -0.5, -0.5, 0.5, 0, 0, 0.5, 0, 0);
@@ -296,9 +296,7 @@ public class calib3dTest extends OpenCVTestCase {
             transformedPoints.add(new Point(y, x));
         }
 
-        Mat hmg = Calib3d.findHomography(
-                Converters.vector_Point2f_to_Mat(originalPoints),
-                Converters.vector_Point2f_to_Mat(transformedPoints));
+        Mat hmg = Calib3d.findHomography(originalPoints, transformedPoints);
 
         truth = new Mat(3, 3, CvType.CV_64F);
         truth.put(0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1);
@@ -543,9 +541,7 @@ public class calib3dTest extends OpenCVTestCase {
 
         Mat rvec = new Mat();
         Mat tvec = new Mat();
-        Calib3d.solvePnP(Converters.vector_Point3f_to_Mat(points3d),
-                Converters.vector_Point2f_to_Mat(points2d), intrinsics,
-                new Mat(), rvec, tvec);
+        Calib3d.solvePnP(points3d, points2d, intrinsics, new Mat(), rvec, tvec);
 
         Mat truth_rvec = new Mat(3, 1, CvType.CV_64F);
         truth_rvec.put(0, 0, 0, Math.PI / 2, 0);

modules/java/android_test/src/org/opencv/test/imgproc/imgprocTest.java

@@ -554,9 +554,7 @@ public class imgprocTest extends OpenCVTestCase {
 		 Size zeroZone = new Size(-1, -1);		 
 		 TermCriteria criteria = new TermCriteria(2/*TODO: CV_TERMCRIT_EPS*/, 0, 0.01);
 		 
-		 Mat cornersMat = Converters.vector_Point2f_to_Mat(corners);
-		 Imgproc.cornerSubPix(img, cornersMat, winSize, zeroZone, criteria);
-		 Converters.Mat_to_vector_Point(cornersMat, corners);
+		 Imgproc.cornerSubPix(img, corners, winSize, zeroZone, criteria);
 		 assertPointEquals(truthPosition, corners.get(0), weakEPS);
     }
 

modules/java/gen_java.py

@@ -179,6 +179,11 @@ type_dict = {
 # "complex" : { j_type : "?", jn_args : (("", ""),), jn_name : "", jni_var : "", jni_name : "", "suffix" : "?" },
 
     "vector_Point": { "j_type" : "List<Point>", "jn_type" : "long", "jni_type" : "jlong", "jni_var" : "vector<Point> %(n)s", "suffix" : "J" },
+    "vector_Point2f": { "j_type" : "List<Point>", "jn_type" : "long", "jni_type" : "jlong", "jni_var" : "vector<Point2f> %(n)s", "suffix" : "J" },
+    "vector_Point2d": { "j_type" : "List<Point>", "jn_type" : "long", "jni_type" : "jlong", "jni_var" : "vector<Point2d> %(n)s", "suffix" : "J" },
+    "vector_Point3i": { "j_type" : "List<Point3>", "jn_type" : "long", "jni_type" : "jlong", "jni_var" : "vector<Point3i> %(n)s", "suffix" : "J" },
+    "vector_Point3f": { "j_type" : "List<Point3>", "jn_type" : "long", "jni_type" : "jlong", "jni_var" : "vector<Point3f> %(n)s", "suffix" : "J" },
+    "vector_Point3d": { "j_type" : "List<Point3>", "jn_type" : "long", "jni_type" : "jlong", "jni_var" : "vector<Point3d> %(n)s", "suffix" : "J" },
     "vector_Mat" :  { "j_type" : "List<Mat>", "jn_type" : "long", "jni_type" : "jlong", "jni_var" : "vector<Mat> %(n)s", "suffix" : "J" },
     "vector_KeyPoint" : { "j_type" : "List<KeyPoint>", "jn_type" : "long", "jni_type" : "jlong", "jni_var" : "vector<KeyPoint> %(n)s", "suffix" : "J" },
     "vector_Rect" : { "j_type" : "List<Rect>", "jn_type" : "long", "jni_type" : "jlong", "jni_var" : "vector<Rect> %(n)s", "suffix" : "J" },
@@ -200,13 +205,13 @@ type_dict = {
     "Point2d" : { "j_type" : "Point", "jn_args" : (("double", ".x"), ("double", ".y")),
                   "jni_var" : "Point2d %(n)s(%(n)s_x, %(n)s_y)", "jni_type" : "jdoubleArray",
                   "suffix" : "DD"},
-    "Point3i" : { "j_type" : "Point", "jn_args" : (("double", ".x"), ("double", ".y"), ("double", ".z")),
+    "Point3i" : { "j_type" : "Point3", "jn_args" : (("double", ".x"), ("double", ".y"), ("double", ".z")),
                   "jni_var" : "Point3i %(n)s((int)%(n)s_x, (int)%(n)s_y, (int)%(n)s_z)", "jni_type" : "jdoubleArray",
                   "suffix" : "DDD"},
-    "Point3f" : { "j_type" : "Point", "jn_args" : (("double", ".x"), ("double", ".y"), ("double", ".z")),
+    "Point3f" : { "j_type" : "Point3", "jn_args" : (("double", ".x"), ("double", ".y"), ("double", ".z")),
                   "jni_var" : "Point3f %(n)s((float)%(n)s_x, (float)%(n)s_y, (float)%(n)s_z)", "jni_type" : "jdoubleArray",
                   "suffix" : "DDD"},
-    "Point3d" : { "j_type" : "Point", "jn_args" : (("double", ".x"), ("double", ".y"), ("double", ".z")),
+    "Point3d" : { "j_type" : "Point3", "jn_args" : (("double", ".x"), ("double", ".y"), ("double", ".z")),
                   "jni_var" : "Point3d %(n)s(%(n)s_x, %(n)s_y, %(n)s_z)", "jni_type" : "jdoubleArray",
                   "suffix" : "DDD"},
     "KeyPoint": { "j_type" : "KeyPoint", "jn_args" : (("float", ".x"), ("float", ".y"), ("float", ".size"),
@@ -457,7 +462,12 @@ func_arg_fix = {
         'randu'    : { 'low'     : 'double', 'high'   : 'double', },
         'randn'    : { 'mean'    : 'double', 'stddev' : 'double', },
         'inRange'  : { 'lowerb'  : 'Scalar', 'upperb' : 'Scalar', },
-        'goodFeaturesToTrack' : { 'corners' : 'vector_Point' },
+        'goodFeaturesToTrack' : { 'corners' : 'vector_Point', },
+        'findFundamentalMat' : { 'points1' : 'vector_Point2d', 'points2' : 'vector_Point2d', },
+        'cornerSubPix' : { 'corners' : 'vector_Point2f', },
+        'findHomography' : { 'srcPoints' : 'vector_Point2f', 'dstPoints' : 'vector_Point2f', },
+        'solvePnP' : { 'objectPoints' : 'vector_Point3f', 'imagePoints' : 'vector_Point2f', },
+        'solvePnPRansac' : { 'objectPoints' : 'vector_Point3f', 'imagePoints' : 'vector_Point2f', },
     }, # '', i.e. empty class
 } # func_arg_fix
 

modules/java/src/cpp/converters.cpp

@@ -10,7 +10,7 @@
 
 using namespace cv;
 
-#define CHECK_MAT(cond) if(cond){ LOGD(#cond); return; }
+#define CHECK_MAT(cond) if(!(cond)){ LOGD("FAILED: " #cond); return; }
 
 
 // vector_int
@@ -18,7 +18,7 @@ using namespace cv;
 void Mat_to_vector_int(Mat& mat, vector<int>& v_int)
 {
 	v_int.clear();
-	CHECK_MAT(mat.type()!= CV_32SC1 || mat.cols!=1);
+	CHECK_MAT(mat.type()==CV_32SC1 && mat.cols==1);
 	v_int = (vector<int>) mat;
 }
 
@@ -33,7 +33,7 @@ void vector_int_to_Mat(vector<int>& v_int, Mat& mat)
 void Mat_to_vector_double(Mat& mat, vector<double>& v_double)
 {
 	v_double.clear();
-	CHECK_MAT(mat.type()!= CV_64FC1 || mat.cols!=1);
+	CHECK_MAT(mat.type()==CV_64FC1 && mat.cols==1);
 	v_double = (vector<double>) mat;
 }
 
@@ -48,7 +48,7 @@ void vector_double_to_Mat(vector<double>& v_double, Mat& mat)
 void Mat_to_vector_float(Mat& mat, vector<float>& v_float)
 {
 	v_float.clear();
-	CHECK_MAT(mat.type()!= CV_32FC1 || mat.cols!=1);
+	CHECK_MAT(mat.type()==CV_32FC1 && mat.cols==1);
 	v_float = (vector<float>) mat;
 }
 
@@ -63,7 +63,7 @@ void vector_float_to_Mat(vector<float>& v_float, Mat& mat)
 void Mat_to_vector_uchar(Mat& mat, vector<uchar>& v_uchar)
 {
 	v_uchar.clear();
-	CHECK_MAT(mat.type()!= CV_8UC1 || mat.cols!=1);
+	CHECK_MAT(mat.type()==CV_8UC1 && mat.cols==1);
 	v_uchar = (vector<uchar>) mat;
 }
 
@@ -73,7 +73,7 @@ void Mat_to_vector_uchar(Mat& mat, vector<uchar>& v_uchar)
 void Mat_to_vector_Rect(Mat& mat, vector<Rect>& v_rect)
 {
 	v_rect.clear();
-	CHECK_MAT(mat.type()!= CV_32SC4 || mat.cols!=1);
+	CHECK_MAT(mat.type()==CV_32SC4 && mat.cols==1);
 	v_rect = (vector<Rect>) mat;
 }
 
@@ -87,22 +87,88 @@ void vector_Rect_to_Mat(vector<Rect>& v_rect, Mat& mat)
 void Mat_to_vector_Point(Mat& mat, vector<Point>& v_point)
 {
 	v_point.clear();
-	CHECK_MAT(mat.type()!= CV_32SC2 || mat.cols!=1);
+	CHECK_MAT(mat.type()==CV_32SC2 && mat.cols==1);
 	v_point = (vector<Point>) mat;
 }
 
+//vector_Point2f
+void Mat_to_vector_Point2f(Mat& mat, vector<Point2f>& v_point)
+{
+	v_point.clear();
+	CHECK_MAT(mat.type()==CV_32FC2 && mat.cols==1);
+	v_point = (vector<Point2f>) mat;
+}
+
+//vector_Point2d
+void Mat_to_vector_Point2d(Mat& mat, vector<Point2d>& v_point)
+{
+	v_point.clear();
+	CHECK_MAT(mat.type()==CV_64FC2 && mat.cols==1);
+	v_point = (vector<Point2d>) mat;
+}
+
+
+//vector_Point3i
+void Mat_to_vector_Point3i(Mat& mat, vector<Point3i>& v_point)
+{
+	v_point.clear();
+	CHECK_MAT(mat.type()==CV_32SC3 && mat.cols==1);
+	v_point = (vector<Point3i>) mat;
+}
+
+//vector_Point3f
+void Mat_to_vector_Point3f(Mat& mat, vector<Point3f>& v_point)
+{
+	v_point.clear();
+	CHECK_MAT(mat.type()==CV_32FC3 && mat.cols==1);
+	v_point = (vector<Point3f>) mat;
+}
+
+//vector_Point3d
+void Mat_to_vector_Point3d(Mat& mat, vector<Point3d>& v_point)
+{
+	v_point.clear();
+	CHECK_MAT(mat.type()==CV_64FC3 && mat.cols==1);
+	v_point = (vector<Point3d>) mat;
+}
+
 
 void vector_Point_to_Mat(vector<Point>& v_point, Mat& mat)
 {
 	mat = Mat(v_point);
 }
 
+void vector_Point2f_to_Mat(vector<Point2f>& v_point, Mat& mat)
+{
+	mat = Mat(v_point);
+}
+
+void vector_Point2d_to_Mat(vector<Point2d>& v_point, Mat& mat)
+{
+	mat = Mat(v_point);
+}
+
+void vector_Point3i_to_Mat(vector<Point3i>& v_point, Mat& mat)
+{
+	mat = Mat(v_point);
+}
+
+void vector_Point3f_to_Mat(vector<Point3f>& v_point, Mat& mat)
+{
+	mat = Mat(v_point);
+}
+
+void vector_Point3d_to_Mat(vector<Point3d>& v_point, Mat& mat)
+{
+	mat = Mat(v_point);
+}
+
 
 //vector_KeyPoint
 void Mat_to_vector_KeyPoint(Mat& mat, vector<KeyPoint>& v_kp)
 {
     v_kp.clear();
-    CHECK_MAT(mat.type()!= CV_64FC(7) || mat.cols!=1);
+    CHECK_MAT(mat.type()==CV_64FC(7) && mat.cols==1);
 	for(int i=0; i<mat.rows; i++)
 	{
 		Vec<double, 7> v = mat.at< Vec<double, 7> >(i, 0);
@@ -138,6 +204,8 @@ void Mat_to_vector_Mat(cv::Mat& mat, std::vector<cv::Mat>& v_mat)
 			Mat& m = *( (Mat*) addr );
 			v_mat.push_back(m);
 		}
+	} else {
+		LOGD("Mat_to_vector_Mat() FAILED: mat.type() == CV_32SC2 && mat.cols == 1");
 	}
 }
 

modules/java/src/cpp/converters.h

@@ -29,8 +29,18 @@ void vector_Rect_to_Mat(std::vector<cv::Rect>& v_rect, cv::Mat& mat);
 
 
 void Mat_to_vector_Point(cv::Mat& mat, std::vector<cv::Point>& v_point);
+void Mat_to_vector_Point2f(cv::Mat& mat, std::vector<cv::Point2f>& v_point);
+void Mat_to_vector_Point2d(cv::Mat& mat, std::vector<cv::Point2d>& v_point);
+void Mat_to_vector_Point3i(cv::Mat& mat, std::vector<cv::Point3i>& v_point);
+void Mat_to_vector_Point3f(cv::Mat& mat, std::vector<cv::Point3f>& v_point);
+void Mat_to_vector_Point3d(cv::Mat& mat, std::vector<cv::Point3d>& v_point);
 
 void vector_Point_to_Mat(std::vector<cv::Point>& v_point, cv::Mat& mat);
+void vector_Point2f_to_Mat(std::vector<cv::Point2f>& v_point, cv::Mat& mat);
+void vector_Point2d_to_Mat(std::vector<cv::Point2d>& v_point, cv::Mat& mat);
+void vector_Point3i_to_Mat(std::vector<cv::Point3i>& v_point, cv::Mat& mat);
+void vector_Point3f_to_Mat(std::vector<cv::Point3f>& v_point, cv::Mat& mat);
+void vector_Point3d_to_Mat(std::vector<cv::Point3d>& v_point, cv::Mat& mat);
 
 
 void Mat_to_vector_KeyPoint(cv::Mat& mat, std::vector<cv::KeyPoint>& v_kp);

modules/java/src/java/Converters.java

@@ -12,74 +12,220 @@ import org.opencv.features2d.KeyPoint;
 public class Converters {
 
     public static Mat vector_Point_to_Mat(List<Point> pts) {
-        Mat res;
-        int count = (pts!=null) ? pts.size() : 0;
-        if(count>0){
-            res = new Mat(count, 1, CvType.CV_32SC2);
-            int[] buff = new int[count*2];
-            for(int i=0; i<count; i++) {
-                Point p = pts.get(i);
-                buff[i*2]   = (int)p.x;
-                buff[i*2+1] = (int)p.y;
-            }
-            res.put(0, 0, buff);
-        } else {
-            res = new Mat();
-        }
-        return res;
+        return vector_Point_to_Mat(pts, CvType.CV_32S);
     }
 
     public static Mat vector_Point2f_to_Mat(List<Point> pts) {
+        return vector_Point_to_Mat(pts, CvType.CV_32F);
+    }
+
+    public static Mat vector_Point2d_to_Mat(List<Point> pts) {
+        return vector_Point_to_Mat(pts, CvType.CV_64F);
+    }
+
+    public static Mat vector_Point_to_Mat(List<Point> pts, int typeDepth) {
         Mat res;
         int count = (pts!=null) ? pts.size() : 0;
         if(count>0){
-            res = new Mat(count, 1, CvType.CV_32FC2);
-            float[] buff = new float[count*2];
-            for(int i=0; i<count; i++) {
-                Point p = pts.get(i);
-                buff[i*2]   = (float)p.x;
-                buff[i*2+1] = (float)p.y;
+            switch (typeDepth) {
+                case CvType.CV_32S:
+                {
+                    res = new Mat(count, 1, CvType.CV_32SC2);
+                    int[] buff = new int[count*2];
+                    for(int i=0; i<count; i++) {
+                        Point p = pts.get(i);
+                        buff[i*2]   = (int)p.x;
+                        buff[i*2+1] = (int)p.y;
+                    }
+                    res.put(0, 0, buff);
+                }
+                break;
+
+                case CvType.CV_32F:
+                {
+                    res = new Mat(count, 1, CvType.CV_32FC2);
+                    float[] buff = new float[count*2];
+                    for(int i=0; i<count; i++) {
+                        Point p = pts.get(i);
+                        buff[i*2]   = (float)p.x;
+                        buff[i*2+1] = (float)p.y;
+                    }
+                    res.put(0, 0, buff);
+                }
+                break;
+
+                case CvType.CV_64F:
+                {
+                    res = new Mat(count, 1, CvType.CV_64FC2);
+                    double[] buff = new double[count*2];
+                    for(int i=0; i<count; i++) {
+                        Point p = pts.get(i);
+                        buff[i*2]   = p.x;
+                        buff[i*2+1] = p.y;
+                    }
+                    res.put(0, 0, buff);
+                }
+                break;
+
+                default:
+                    throw new IllegalArgumentException("'typeDepth' can be CV_32S, CV_32F or CV_64F");
             }
-            res.put(0, 0, buff);
         } else {
             res = new Mat();
         }
         return res;
     }
 
+
+    public static Mat vector_Point3i_to_Mat(List<Point3> pts) {
+        return vector_Point3_to_Mat(pts, CvType.CV_32S);
+    }
+
     public static Mat vector_Point3f_to_Mat(List<Point3> pts) {
+        return vector_Point3_to_Mat(pts, CvType.CV_32F);
+    }
+
+    public static Mat vector_Point3d_to_Mat(List<Point3> pts) {
+        return vector_Point3_to_Mat(pts, CvType.CV_64F);
+    }
+
+    public static Mat vector_Point3_to_Mat(List<Point3> pts, int typeDepth) {
         Mat res;
         int count = (pts!=null) ? pts.size() : 0;
         if(count>0){
-            res = new Mat(count, 1, CvType.CV_32FC3);
-            float[] buff = new float[count*3];
-            for(int i=0; i<count; i++) {
-                Point3 p = pts.get(i);
-                buff[i*3]   = (float)p.x;
-                buff[i*3+1] = (float)p.y;
-                buff[i*3+2] = (float)p.z;
+            switch (typeDepth){
+                case CvType.CV_32S:
+                {
+                    res = new Mat(count, 1, CvType.CV_32SC3);
+                    int[] buff = new int[count*3];
+                    for(int i=0; i<count; i++) {
+                        Point3 p = pts.get(i);
+                        buff[i*3]   = (int)p.x;
+                        buff[i*3+1] = (int)p.y;
+                        buff[i*3+2] = (int)p.z;
+                    }
+                    res.put(0, 0, buff);
+                }
+                break;
+
+                case CvType.CV_32F:
+                {
+                    res = new Mat(count, 1, CvType.CV_64FC3);
+                    float[] buff = new float[count*3];
+                    for(int i=0; i<count; i++) {
+                        Point3 p = pts.get(i);
+                        buff[i*3]   = (float)p.x;
+                        buff[i*3+1] = (float)p.y;
+                        buff[i*3+2] = (float)p.z;
+                    }
+                    res.put(0, 0, buff);
+                }
+                break;
+
+                case CvType.CV_64F:
+                {
+                    res = new Mat(count, 1, CvType.CV_64FC3);
+                    double[] buff = new double[count*3];
+                    for(int i=0; i<count; i++) {
+                        Point3 p = pts.get(i);
+                        buff[i*3]   = p.x;
+                        buff[i*3+1] = p.y;
+                        buff[i*3+2] = p.z;
+                    }
+                    res.put(0, 0, buff);
+                }
+                break;
+
+                default:
+                    throw new IllegalArgumentException("'typeDepth' can be CV_32S, CV_32F or CV_64F");
             }
-            res.put(0, 0, buff);
         } else {
             res = new Mat();
         }
         return res;
     }
 
+    public static void Mat_to_vector_Point2f(Mat m, List<Point> pts) {
+    	Mat_to_vector_Point(m, pts);
+    }
+
+    public static void Mat_to_vector_Point2d(Mat m, List<Point> pts) {
+    	Mat_to_vector_Point(m, pts);
+    }
     public static void Mat_to_vector_Point(Mat m, List<Point> pts) {
         if(pts == null)
-            throw new java.lang.IllegalArgumentException("pts == null");
+            throw new java.lang.IllegalArgumentException("Output List can't be null");
         int count = m.rows();
-        if( CvType.CV_32SC2 != m.type() ||  m.cols()!=1 )
-            throw new java.lang.IllegalArgumentException(
-                    "CvType.CV_32SC2 != m.type() ||  m.cols()!=1\n" + m );
+        int type = m.type();
+        if(m.cols() != 1)
+            throw new java.lang.IllegalArgumentException( "Input Mat should have one column\n" + m );
 
         pts.clear();
-        int[] buff = new int[2*count];
-        m.get(0, 0, buff);
-        for(int i=0; i<count; i++) {
-            pts.add( new Point(buff[i*2], buff[i*2+1]) );
-        }
+		if(type == CvType.CV_32SC2) {
+            int[] buff = new int[2*count];
+            m.get(0, 0, buff);
+            for(int i=0; i<count; i++) {
+                pts.add( new Point(buff[i*2], buff[i*2+1]) );
+            }
+		} else if(type == CvType.CV_32FC2){
+            float[] buff = new float[2*count];
+            m.get(0, 0, buff);
+            for(int i=0; i<count; i++) {
+                pts.add( new Point(buff[i*2], buff[i*2+1]) );
+            }
+		} else if(type == CvType.CV_64FC2){
+            double[] buff = new double[2*count];
+            m.get(0, 0, buff);
+            for(int i=0; i<count; i++) {
+                pts.add( new Point(buff[i*2], buff[i*2+1]) );
+            }
+		} else {
+			throw new java.lang.IllegalArgumentException(
+                    "Input Mat should be of CV_32SC2, CV_32FC2 or CV_64FC2 type\n" + m );
+		}
+    }
+
+    public static void Mat_to_vector_Point3i(Mat m, List<Point3> pts) {
+    	Mat_to_vector_Point3(m, pts);
+    }
+    public static void Mat_to_vector_Point3f(Mat m, List<Point3> pts) {
+    	Mat_to_vector_Point3(m, pts);
+    }
+
+    public static void Mat_to_vector_Point3d(Mat m, List<Point3> pts) {
+    	Mat_to_vector_Point3(m, pts);
+    }
+    public static void Mat_to_vector_Point3(Mat m, List<Point3> pts) {
+        if(pts == null)
+            throw new java.lang.IllegalArgumentException("Output List can't be null");
+        int count = m.rows();
+        int type = m.type();
+        if(m.cols() != 1)
+            throw new java.lang.IllegalArgumentException( "Input Mat should have one column\n" + m );
+
+        pts.clear();
+		if(type == CvType.CV_32SC3) {
+            int[] buff = new int[3*count];
+            m.get(0, 0, buff);
+            for(int i=0; i<count; i++) {
+                pts.add( new Point3(buff[i*3], buff[i*3+1], buff[i*3+2]) );
+            }
+		} else if(type == CvType.CV_32FC3){
+            float[] buff = new float[3*count];
+            m.get(0, 0, buff);
+            for(int i=0; i<count; i++) {
+                pts.add( new Point3(buff[i*3], buff[i*3+1], buff[i*3+2]) );
+            }
+		} else if(type == CvType.CV_64FC3){
+            double[] buff = new double[3*count];
+            m.get(0, 0, buff);
+            for(int i=0; i<count; i++) {
+                pts.add( new Point3(buff[i*3], buff[i*3+1], buff[i*3+2]) );
+            }
+		} else {
+			throw new java.lang.IllegalArgumentException(
+                    "Input Mat should be of CV_32SC3, CV_32FC3 or CV_64FC3 type\n" + m );
+		}
     }
 
     public static Mat vector_Mat_to_Mat(List<Mat> mats) {