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Merge pull request #730 from vpisarev:ba_fix

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Andrey Kamaev 2013-04-02 15:24:12 +04:00 committed by OpenCV Buildbot
commit 727a339455
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); typedef bool (*BundleAdjustCallback)(int iteration, double norm_error, void* user_data);
class LevMarqSparse { class CV_EXPORTS LevMarqSparse {
public: public:
LevMarqSparse(); LevMarqSparse();
LevMarqSparse(int npoints, // number of points 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); Mat rot_vec = Mat(levmar.P).rowRange(i*num_cam_param, i*num_cam_param+3);
Rodrigues( rot_vec, R[i] ); Rodrigues( rot_vec, R[i] );
//translation //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 //intrinsic camera matrix
double* intr_data = (double*)cameraMatrix[i].data; double* intr_data = (double*)cameraMatrix[i].data;