Added projectPoints() for 3xN objectPoints and 2xN imagePoints (#1550)

modules/calib3d/src/calibration.cpp

@@ -800,7 +800,8 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
     if( CV_IS_CONT_MAT(objectPoints->type) &&
         (CV_MAT_DEPTH(objectPoints->type) == CV_32F || CV_MAT_DEPTH(objectPoints->type) == CV_64F)&&
         ((objectPoints->rows == 1 && CV_MAT_CN(objectPoints->type) == 3) ||
-        (objectPoints->rows == count && CV_MAT_CN(objectPoints->type)*objectPoints->cols == 3)))
+        (objectPoints->rows == count && CV_MAT_CN(objectPoints->type)*objectPoints->cols == 3) ||
+        (objectPoints->rows == 3 && CV_MAT_CN(objectPoints->type) == 1 && objectPoints->cols == count)))
     {
         matM = cvCreateMat( objectPoints->rows, objectPoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(objectPoints->type)) );
         cvConvert(objectPoints, matM);
@@ -815,7 +816,8 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
     if( CV_IS_CONT_MAT(imagePoints->type) &&
         (CV_MAT_DEPTH(imagePoints->type) == CV_32F || CV_MAT_DEPTH(imagePoints->type) == CV_64F) &&
         ((imagePoints->rows == 1 && CV_MAT_CN(imagePoints->type) == 2) ||
-        (imagePoints->rows == count && CV_MAT_CN(imagePoints->type)*imagePoints->cols == 2)))
+        (imagePoints->rows == count && CV_MAT_CN(imagePoints->type)*imagePoints->cols == 2) ||
+        (imagePoints->rows == 2 && CV_MAT_CN(imagePoints->type) == 1 && imagePoints->cols == count)))
     {
         _m = cvCreateMat( imagePoints->rows, imagePoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(imagePoints->type)) );
         cvConvert(imagePoints, _m);