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fix: catch cv2.error in points2F(), not just F/mask=None #101

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fix: catch cv2.error in points2F(), not just F/mask=None #101

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17 changes: 14 additions & 3 deletions src/machinevisiontoolbox/Camera.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2785,9 +2785,20 @@ def points2F(
if seed is not None:
cv2.setRNGSeed(seed)

F, mask = cv2.findFundamentalMat(
points1=p1.T, points2=p2.T, method=points2F_dict[method], **kwargs
)
try:
F, mask = cv2.findFundamentalMat(
points1=p1.T, points2=p2.T, method=points2F_dict[method], **kwargs
)
except cv2.error as e:
# on some degenerate point configurations cv2.findFundamentalMat
# raises a raw C++ assertion (eg. a Mat rowRange error) instead
# of returning None -- same underlying cause as the F is None
# case below, just surfaced differently by OpenCV
raise ValueError(
f"cv2.findFundamentalMat could not estimate F from "
f"{p1.shape[1]} point correspondences using method={method!r} "
f"-- points are likely too degenerate (eg. coplanar, collinear): {e}"
) from e

if F is None or mask is None:
# already know p1.shape[1] >= min_points (checked above), so a
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