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removed cameraMatrix modification in the currently disabled uPnP algorithm for SolvePnP problem (http://code.opencv.org/issues/3985)

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This commit is contained in:
Vadim Pisarevsky 2015-05-23 14:19:55 +03:00
parent 7fd5b3a0c5
commit 2466ca02bf
1 changed files with 2 additions and 6 deletions
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8
modules/calib3d/src/solvepnp.cpp
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@ -115,14 +115,10 @@ bool solvePnP( InputArray _opoints, InputArray _ipoints,
upnp PnP(cameraMatrix, opoints, ipoints); upnp PnP(cameraMatrix, opoints, ipoints);
Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat(); Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
double f = PnP.compute_pose(R, tvec); PnP.compute_pose(R, tvec);
Rodrigues(R, rvec); Rodrigues(R, rvec);
if(cameraMatrix.type() == CV_32F)
cameraMatrix.at<float>(0,0) = cameraMatrix.at<float>(1,1) = (float)f;
else
cameraMatrix.at<double>(0,0) = cameraMatrix.at<double>(1,1) = f;
return true; return true;
}*/ }
else else
CV_Error(CV_StsBadArg, "The flags argument must be one of SOLVEPNP_ITERATIVE, SOLVEPNP_P3P, SOLVEPNP_EPNP or SOLVEPNP_DLS"); CV_Error(CV_StsBadArg, "The flags argument must be one of SOLVEPNP_ITERATIVE, SOLVEPNP_P3P, SOLVEPNP_EPNP or SOLVEPNP_DLS");
return false; return false;