diff --git a/modules/calib3d/src/calibration_handeye.cpp b/modules/calib3d/src/calibration_handeye.cpp
index 25fa5af053..ab20597c8b 100644
--- a/modules/calib3d/src/calibration_handeye.cpp
+++ b/modules/calib3d/src/calibration_handeye.cpp
@@ -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);
@@ -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);
@@ -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];
@@ -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];