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edgarriba 2014-07-25 11:46:28 +02:00
parent 5f54a22d29
commit 5980613317
1 changed files with 4 additions and 4 deletions
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8
modules/calib3d/src/dls.cpp
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@ -245,13 +245,13 @@ void dls::run_kernel(const cv::Mat& pp)
// check that the points are infront of the center of perspectivity // check that the points are infront of the center of perspectivity
for (int k = 0; k < sols.cols; ++k) for (int k = 0; k < sols.cols; ++k)
{ {
cv::Mat cam_points = C_est[k] * pp + cv::repeat(t_est[k], 1, pp.cols); // OK cv::Mat cam_points = C_est[k] * pp + cv::repeat(t_est[k], 1, pp.cols);
cv::Mat cam_points_k = cam_points.row(2); cv::Mat cam_points_k = cam_points.row(2);
if(is_empty(&cam_points_k)) // OK if(is_empty(&cam_points_k))
{ {
cv::Mat C_valid = C_est[k], t_valid = t_est[k]; // OK cv::Mat C_valid = C_est[k], t_valid = t_est[k];
double cost_valid = cost[k];// OK double cost_valid = cost[k];
C_est_.push_back(C_valid); C_est_.push_back(C_valid);
t_est_.push_back(t_valid); t_est_.push_back(t_valid);