From 3e708e015c99f7374946c6cd5137509add43fb21 Mon Sep 17 00:00:00 2001
From: Pavel Rojtberg <pavel.rojtberg@igd.fraunhofer.de>
Date: Tue, 24 Jan 2017 15:27:11 +0100
Subject: [PATCH] solvePnP: use CV_32F for rvec, tvec if all PnP inputs are
CV_32F
---
modules/calib3d/src/solvepnp.cpp | 10 ++++++++--
1 file changed, 8 insertions(+), 2 deletions(-)
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index e205580921..1e9b8ec6e4 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -77,8 +77,14 @@ bool solvePnP( InputArray _opoints, InputArray _ipoints,
}
else
{
- _rvec.create(3, 1, CV_64F);
- _tvec.create(3, 1, CV_64F);
+ int mtype = CV_64F;
+ // use CV_32F if all PnP inputs are CV_32F and outputs are empty
+ if (_ipoints.depth() == _cameraMatrix.depth() && _ipoints.depth() == _opoints.depth() &&
+ _rvec.empty() && _tvec.empty())
+ mtype = _opoints.depth();
+
+ _rvec.create(3, 1, mtype);
+ _tvec.create(3, 1, mtype);
}
rvec = _rvec.getMat();
tvec = _tvec.getMat();