From de52887c49072325ba580ee3650502175ceee891 Mon Sep 17 00:00:00 2001
From: Matthias Grundmann <grundmann.matthias@gmail.com>
Date: Fri, 24 Mar 2017 13:29:04 -0700
Subject: [PATCH] Update circlesgrid.cpp

Use identity matrix if homography finding failed. Current behavior zeros out all points.

Update circlesgrid.cpp

Addressed comments

Update circlesgrid.cpp

removed whitespace
---
 modules/calib3d/src/circlesgrid.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/modules/calib3d/src/circlesgrid.cpp b/modules/calib3d/src/circlesgrid.cpp
index df85809d41..a90c7f3f5a 100644
--- a/modules/calib3d/src/circlesgrid.cpp
+++ b/modules/calib3d/src/circlesgrid.cpp
@@ -839,7 +839,11 @@ Mat CirclesGridFinder::rectifyGrid(Size detectedGridSize, const std::vector<Poin
   //Mat H = findHomography( Mat( corners ), Mat( dstPoints ) );
 
   if (H.empty())
+  {
       H = Mat::zeros(3, 3, CV_64FC1);
+      warpedKeypoints.clear();
+      return H;
+  }
 
   std::vector<Point2f> srcKeypoints;
   for (size_t i = 0; i < keypoints.size(); i++)