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Merge pull request #4008 from cr333:triangulation_fix_2.4

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Vadim Pisarevsky 2015-05-23 10:18:08 +00:00
commit 74bb0beeb0
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" );
CvMat matrA;
double matrA_dat[24];
matrA = cvMat(6,4,CV_64F,matrA_dat);
double matrA_dat[16];
matrA = cvMat(4,4,CV_64F,matrA_dat);
//CvMat matrU;
CvMat matrW;
CvMat matrV;
//double matrU_dat[9*9];
double matrW_dat[6*4];
double matrW_dat[4*4];
double matrV_dat[4*4];
//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);
CvMat* projPoints[2];
@ -117,9 +117,8 @@ cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, CvMat* projPoints1, CvMa
y = cvmGet(projPoints[j],1,i);
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*3+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) );
cvmSet(&matrA, j*2+0, k, x * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],0,k) );
cvmSet(&matrA, j*2+1, k, y * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],1,k) );
}
}
/* Solve system for current point */