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Merge remote-tracking branch 'upstream/3.4' into merge-3.4

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This commit is contained in:
Alexander Alekhin
2020-08-06 14:15:52 +00:00
parent dbab8d8c38 1067cd0649
commit fa25faa2d2
52 changed files with 1498 additions and 319 deletions
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modules/calib3d/src/calibration_handeye.cpp
+8 -2
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@@ -712,7 +712,10 @@ void calibrateHandEye(InputArrayOfArrays R_gripper2base, InputArrayOfArrays t_gr
{
Mat m = Mat::eye(4, 4, CV_64FC1);
Mat R = m(Rect(0, 0, 3, 3));
R_gripper2base_[i].convertTo(R, CV_64F);
if(R_gripper2base_[i].size() == Size(3, 3))
R_gripper2base_[i].convertTo(R, CV_64F);
else
Rodrigues(R_gripper2base_[i], R);
Mat t = m(Rect(3, 0, 1, 3));
t_gripper2base_[i].convertTo(t, CV_64F);
@@ -727,7 +730,10 @@ void calibrateHandEye(InputArrayOfArrays R_gripper2base, InputArrayOfArrays t_gr
{
Mat m = Mat::eye(4, 4, CV_64FC1);
Mat R = m(Rect(0, 0, 3, 3));
R_target2cam_[i].convertTo(R, CV_64F);
if(R_target2cam_[i].size() == Size(3, 3))
R_target2cam_[i].convertTo(R, CV_64F);
else
Rodrigues(R_target2cam_[i], R);
Mat t = m(Rect(3, 0, 1, 3));
t_target2cam_[i].convertTo(t, CV_64F);