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Fixed triangulation bug http://code.opencv.org/issues/4334.

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This commit is contained in:
Christian Richardt
2015-05-13 15:47:00 +02:00
parent cc94b393c5
commit 242e64c08d
1 changed files with 6 additions and 7 deletions
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13
modules/calib3d/src/triangulate.cpp
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@@ -82,18 +82,18 @@ cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, CvMat* projPoints1, CvMa
CV_Error( CV_StsUnmatchedSizes, "Size of projection matrices must be 3x4" ); CV_Error( CV_StsUnmatchedSizes, "Size of projection matrices must be 3x4" );
CvMat matrA; CvMat matrA;
double matrA_dat[24]; double matrA_dat[16];
matrA = cvMat(6,4,CV_64F,matrA_dat); matrA = cvMat(4,4,CV_64F,matrA_dat);
//CvMat matrU; //CvMat matrU;
CvMat matrW; CvMat matrW;
CvMat matrV; CvMat matrV;
//double matrU_dat[9*9]; //double matrU_dat[9*9];
double matrW_dat[6*4]; double matrW_dat[4*4];
double matrV_dat[4*4]; double matrV_dat[4*4];
//matrU = cvMat(6,6,CV_64F,matrU_dat); //matrU = cvMat(6,6,CV_64F,matrU_dat);
matrW = cvMat(6,4,CV_64F,matrW_dat); matrW = cvMat(4,4,CV_64F,matrW_dat);
matrV = cvMat(4,4,CV_64F,matrV_dat); matrV = cvMat(4,4,CV_64F,matrV_dat);
CvMat* projPoints[2]; CvMat* projPoints[2];
@@ -117,9 +117,8 @@ cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, CvMat* projPoints1, CvMa
y = cvmGet(projPoints[j],1,i); y = cvmGet(projPoints[j],1,i);
for( int k = 0; k < 4; k++ ) for( int k = 0; k < 4; k++ )
{ {
cvmSet(&matrA, j*3+0, k, x * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],0,k) ); cvmSet(&matrA, j*2+0, k, x * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],0,k) );
cvmSet(&matrA, j*3+1, k, y * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],1,k) ); cvmSet(&matrA, j*2+1, k, y * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],1,k) );
cvmSet(&matrA, j*3+2, k, x * cvmGet(projMatrs[j],1,k) - y * cvmGet(projMatrs[j],0,k) );
} }
} }
/* Solve system for current point */ /* Solve system for current point */