SolvePnP overload with non-Mat arguments throws Exception

[BenjaminPelletier]

Summary of your issue

The SolvePnP overload that uses IEnumerable sets of points throws the Exception shown below. Apparently I'm not the first person to discover this problem: https://stackoverflow.com/questions/37279776/how-to-fix-unhandled-opencvexception-from-calling-cv2-solvepnp

Environment

Visual Studio 2015
OpenCVSharp3-AnyCPU v3.2.0.20170911

What did you do when you faced the problem?

Invoked Cv2.SolvePnP

Example code:

double[] rvec;
double[] tvec;
Console.WriteLine("objPts: " + objPts.GetType().Name + " (" + objPts.Length + " points)");
Console.WriteLine("imgPts: " + imgPts.GetType().Name + " (" + imgPts.Length + " points)");
Console.WriteLine("mat: " + mat.GetType().Name + " " + mat.GetLength(0) + "x" + mat.GetLength(1) + " (" + mat.Length + " elements)");
Console.WriteLine("dist: " + dist.GetType().Name + " (" + dist.Length + " elements)");
Cv2.SolvePnP(objPts, imgPts, intrinsics.Mat, intrinsics.Dist, out rvec, out tvec);

Output:

objPts: Point3f[] (5 points)
imgPts: Point2f[] (5 points)
mat: Double[,] 3x3 (9 elements)
dist: Double[] (5 elements)
OpenCvSharp.OpenCVException: src.size == dst.size && src.channels() == dst.channels()
   at OpenCvSharp.NativeMethods.<>c.<.cctor>b__1555_0(ErrorCode status, String funcName, String errMsg, String fileName, Int32 line, IntPtr userdata)
   at OpenCvSharp.NativeMethods.calib3d_solvePnP_vector(Point3f[] objectPoints, Int32 objectPointsLength, Point2f[] imagePoints, Int32 imagePointsLength, Double[,] cameraMatrix, Double[] distCoeffs, Int32 distCoeffsLength, Double[] rvec, Double[] tvec, Int32 useExtrinsicGuess, Int32 flags)
   at OpenCvSharp.Cv2.SolvePnP(IEnumerable`1 objectPoints, IEnumerable`1 imagePoints, Double[,] cameraMatrix, IEnumerable`1 distCoeffs, Double[]& rvec, Double[]& tvec, Boolean useExtrinsicGuess, SolvePnPFlags flags)

What did you intend to be?

I intended for SolvePnP to work properly given valid inputs.

[BenjaminPelletier]

Here's complete code to reproduce:

var rvec = new double[] { 0, 0, 0 };
var tvec = new double[] { 0, 0, 0 };
var m = new double[3, 3]
{
    { 1, 0, 0 },
    { 0, 1, 0 },
    { 0, 0, 1 }
};
var dist = new double[] { 0, 0, 0, 0, 0 };

var objPts = new Point3f[]
{
    new Point3f(0,0,1),
    new Point3f(1,0,1),
    new Point3f(0,1,1),
    new Point3f(1,1,1),
    new Point3f(1,0,2),
    new Point3f(0,1,2)
};

double[,] jacobian;
Point2f[] imgPts;
Cv2.ProjectPoints(objPts, rvec, tvec, m, dist, out imgPts, out jacobian);

Cv2.SolvePnP(objPts, imgPts, m, dist, out rvec, out tvec);

The last line throws the Exception.