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fixes in bundle adjustment code by Nils Hasler

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This commit is contained in:
Vadim Pisarevsky 2013-04-01 15:20:35 +04:00
parent 87bb7ff558
commit 10702c6d75
2 changed files with 2 additions and 2 deletions
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2
modules/contrib/include/opencv2/contrib/contrib.hpp
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@ -435,7 +435,7 @@ namespace cv
typedef bool (*BundleAdjustCallback)(int iteration, double norm_error, void* user_data);
class LevMarqSparse {
class CV_EXPORTS LevMarqSparse {
public:
LevMarqSparse();
LevMarqSparse(int npoints, // number of points

2
modules/contrib/src/ba.cpp
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@ -1105,7 +1105,7 @@ void LevMarqSparse::bundleAdjust( vector<Point3d>& points, //positions of points
Mat rot_vec = Mat(levmar.P).rowRange(i*num_cam_param, i*num_cam_param+3);
Rodrigues( rot_vec, R[i] );
//translation
T[i] = Mat(levmar.P).rowRange(i*num_cam_param + 3, i*num_cam_param+6);
Mat(levmar.P).rowRange(i*num_cam_param + 3, i*num_cam_param+6).copyTo(T[i]);
//intrinsic camera matrix
double* intr_data = (double*)cameraMatrix[i].data;