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avoid one possible singularity in cvFindHomography

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This commit is contained in:
Vadim Pisarevsky 2010-06-06 17:21:40 +00:00
parent 93d469956d
commit 8a7b4760ac
1 changed files with 2 additions and 1 deletions
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3
modules/calib3d/src/fundam.cpp
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@ -184,7 +184,8 @@ bool CvHomographyEstimator::refine( const CvMat* m1, const CvMat* m2, CvMat* mod
{
const double* h = _param->data.db;
double Mx = M[i].x, My = M[i].y;
double ww = 1./(h[6]*Mx + h[7]*My + 1.);
double ww = h[6]*Mx + h[7]*My + 1.;
ww = fabs(ww) > DBL_EPSILON ? 1./ww : 0;
double _xi = (h[0]*Mx + h[1]*My + h[2])*ww;
double _yi = (h[3]*Mx + h[4]*My + h[5])*ww;
double err[] = { _xi - m[i].x, _yi - m[i].y };