mirror of
https://github.com/opencv/opencv.git
synced 2026-10-28 16:46:46 +08:00
Alessio Timofte
0d6679af6e
Port of #30403 to 5.x. PoseSolver::rot2vec reads the rotation axis from R - R^T and divides by sin(theta). Both vanish when the rotation is close to 180 degrees, which is the pose of a square tag seen exactly head-on, so SOLVEPNP_IPPE_SQUARE returned a pose flipped by 180 degrees. Fall back to Rodrigues in that case and clamp the acos argument. The fast path for all other rotations is unchanged.