title: Assertion errors in using solvePnP
body: <p>I am using solvePnP to find camera pose estimate. I get this assertion error:</p>
  
  <pre><code>    OpenCV Error: Assertion failed (mtype == type0 || (CV_MAT_CN(mtype) == 1 &amp;&amp; ((1 &lt;&lt; type0) &amp; fixedDepthMask) != 0)) in virtual void cv::_OutputArray::create(int, int const*, int, int, bool, int) const, file /home/reports/ci/slave/50-SDK/opencv/modules/core/src/matrix.cpp, line 1438 terminate called after throwing an instance of 'cv::Exception'
      what():  /home/reports/ci/slave/50-SDK/opencv/modules/core/src/matrix.cpp:1438: error: (-215) mtype == type0 || (CV_MAT_CN(mtype) == 1 &amp;&amp; ((1 &lt;&lt; type0) &amp; fixedDepthMask) != 0) in function virtual void cv::_OutputArray::create(int, int const*, int, int, bool, int) const
  </code></pre>
  
  <p>Here is my code:</p>
  
  <pre><code>Vec4f noArray;
  Vec3f rvec,tvec;
  std::vector&lt;cv::Vec3f&gt; p3f;
  Mat(p3d).copyTo(p3f);
  std::vector&lt;cv::Point2f&gt; points2f;
  Mat(points2d).copyTo(points2f);
  solvePnP(p3f,points2f,camera,noArray,rvec,tvec,true,CV_ITERATIVE);
  </code></pre>
  
  <p>Here p3d is a vector(Vec3d), points2d is a vector(Point2d) and camera is a Matx33f. What am I doing wrong?</p>