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Merge pull request #8065 from paroj:pnpfloat

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solvePnP: use CV_32F for rvec, tvec if all PnP inputs are CV_32F
This commit is contained in:
Alexander Alekhin 2017-01-25 12:50:05 +03:00 committed by GitHub
commit a446cb271f
1 changed files with 8 additions and 2 deletions
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10
modules/calib3d/src/solvepnp.cpp
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@ -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();