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possible fix for ticket 380 (should not hurt camera calibration engine, as the fix only affects non-planar objects)

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Vadim Pisarevsky 2010-10-04 13:46:37 +00:00
parent 49fa536c62
commit 51822f2072
1 changed files with 2 additions and 2 deletions
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4
modules/calib3d/src/calibration.cpp
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@ -1279,10 +1279,10 @@ CV_IMPL void cvFindExtrinsicCameraParams2( const CvMat* objectPoints,
_RRt = cvMat( 3, 4, CV_64F, LV + 11*12 );
cvGetCols( &_RRt, &_RR, 0, 3 );
cvGetCol( &_RRt, &_tt, 3 );
if( cvDet(&_RR) < 0 )
cvScale( &_RRt, &_RRt, -1 );
sc = cvNorm(&_RR);
cvSVD( &_RR, &matW, &matU, &matV, CV_SVD_MODIFY_A + CV_SVD_U_T + CV_SVD_V_T );
if( W[0]*W[1]*W[2] < 0 )
sc = -sc;
cvGEMM( &matU, &matV, 1, 0, 0, &matR, CV_GEMM_A_T );
cvScale( &_tt, &_t, cvNorm(&matR)/sc );
cvRodrigues2( &matR, &_r );