From ae85e516c03d78a1befa5001c6918dfb42529511 Mon Sep 17 00:00:00 2001
From: LuukvandenBent <94459309+LuukvandenBent@users.noreply.github.com>
Date: Mon, 22 Apr 2024 10:12:29 +0200
Subject: [PATCH] Merge pull request #25423 from
 LuukvandenBent:CalibrateHandEyeDatatypeFix

Calibrate hand eye datatype fix #25423

Fix for issue https://github.com/opencv/opencv/issues/25421.

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
---
 modules/calib3d/src/calibration_handeye.cpp | 20 ++++++++++++++++----
 1 file changed, 16 insertions(+), 4 deletions(-)

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];