message: solvePnP: use CV_32F for rvec, tvec if all PnP inputs are CV_32F
diff: @@ -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();
  