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Calibrate hand eye datatype fix #25423

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Merged
merged 2 commits into from
Apr 22, 2024
Merged

Calibrate hand eye datatype fix #25423

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0ee49cd
Fix conversion to CV_64F when input is 3x1 Rodrigues CV_32F in Calibr…
LuukvandenBent Apr 16, 2024
2b82ac8
Fix conversion to CV_64F when input is 3x1 Rodrigues CV_32F in Calibr…
LuukvandenBent Apr 16, 2024
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20 changes: 16 additions & 4 deletions modules/calib3d/src/calibration_handeye.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -722,7 +722,11 @@ void calibrateHandEye(InputArrayOfArrays R_gripper2base, InputArrayOfArrays t_gr
if(R_gripper2base_[i].size() == Size(3, 3))
R_gripper2base_[i].convertTo(R, CV_64F);
else
Rodrigues(R_gripper2base_[i], R);
{
cv::Mat R_temp;
Rodrigues(R_gripper2base_[i], R_temp);
R_temp.convertTo(R, CV_64F);
}

Mat t = m(Rect(3, 0, 1, 3));
t_gripper2base_[i].convertTo(t, CV_64F);
Expand All @@ -740,7 +744,11 @@ void calibrateHandEye(InputArrayOfArrays R_gripper2base, InputArrayOfArrays t_gr
if(R_target2cam_[i].size() == Size(3, 3))
R_target2cam_[i].convertTo(R, CV_64F);
else
Rodrigues(R_target2cam_[i], R);
{
cv::Mat R_temp;
Rodrigues(R_target2cam_[i], R_temp);
R_temp.convertTo(R, CV_64F);
}

Mat t = m(Rect(3, 0, 1, 3));
t_target2cam_[i].convertTo(t, CV_64F);
Expand Down Expand Up @@ -920,7 +928,9 @@ void calibrateRobotWorldHandEye(InputArrayOfArrays R_world2cam, InputArrayOfArra
}
else
{
Rodrigues(rot, R);
cv::Mat R_temp;
Rodrigues(rot, R_temp);
R_temp.convertTo(R, CV_64F);
R_base2gripper_.push_back(R);
}
Mat tvec = t_base2gripper_tmp[i];
Expand All @@ -938,7 +948,9 @@ void calibrateRobotWorldHandEye(InputArrayOfArrays R_world2cam, InputArrayOfArra
}
else
{
Rodrigues(rot, R);
cv::Mat R_temp;
Rodrigues(rot, R_temp);
R_temp.convertTo(R, CV_64F);
R_world2cam_.push_back(R);
}
Mat tvec = t_world2cam_tmp[i];
Expand Down