Merge pull request #17977 from paroj:hervec

* calib3d: calibrateHandEye - allow using Rodrigues vectors for rotation

* calib3d: calibrateHandEye - test rvec representation

diff --git a/modules/calib3d/src/calibration_handeye.cpp b/modules/calib3d/src/calibration_handeye.cpp
index 18561c7..37d4e89 100644 (file)
--- a/modules/calib3d/src/calibration_handeye.cpp
+++ b/modules/calib3d/src/calibration_handeye.cpp
@@ -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);

diff --git a/modules/calib3d/test/test_calibration_hand_eye.cpp b/modules/calib3d/test/test_calibration_hand_eye.cpp
index d2cef96..848dcf0 100644 (file)
--- a/modules/calib3d/test/test_calibration_hand_eye.cpp
+++ b/modules/calib3d/test/test_calibration_hand_eye.cpp
@@ -317,7 +317,10 @@ void CV_CalibrateHandEyeTest::simulateData(RNG& rng, int nPoses,
             t_gripper2base_noise.at<double>(2,0) += rng.gaussian(0.001);
         }
 
-        R_target2cam.push_back(T_target2cam(Rect(0, 0, 3, 3)));
+        // test rvec represenation
+        Mat rvec_target2cam;
+        cv::Rodrigues(T_target2cam(Rect(0, 0, 3, 3)), rvec_target2cam);
+        R_target2cam.push_back(rvec_target2cam);
         t_target2cam.push_back(T_target2cam(Rect(3, 0, 1, 3)));
     }
 }