Return the estimated focal length

2014-10-02 17:05:42 +02:00
parent ea893bf9d9
commit 7520544840
3 changed files with 6 additions and 13 deletions
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -113,8 +113,9 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
        upnp PnP(cameraMatrix, opoints, ipoints);

        cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
-		PnP.compute_pose(R, tvec);
+		double f = PnP.compute_pose(R, tvec);
 		cv::Rodrigues(R, rvec);
+		cameraMatrix.at<double>(0,0) = cameraMatrix.at<double>(1,1) = f;
 		return true;
    }
    else