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Merge pull request #4010 from cr333:triangulation_fix_master

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Vadim Pisarevsky 2015-05-23 10:17:39 +00:00
commit a1a35ca5f7
1 changed files with 4 additions and 5 deletions
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9
modules/calib3d/src/triangulate.cpp
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@ -82,8 +82,8 @@ cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, CvMat* projPoints1, CvMa
CV_Error( CV_StsUnmatchedSizes, "Size of projection matrices must be 3x4" ); CV_Error( CV_StsUnmatchedSizes, "Size of projection matrices must be 3x4" );
// preallocate SVD matrices on stack // preallocate SVD matrices on stack
cv::Matx<double, 6, 4> matrA; cv::Matx<double, 4, 4> matrA;
cv::Matx<double, 6, 4> matrU; cv::Matx<double, 4, 4> matrU;
cv::Matx<double, 4, 1> matrW; cv::Matx<double, 4, 1> matrW;
cv::Matx<double, 4, 4> matrV; cv::Matx<double, 4, 4> matrV;
@ -101,9 +101,8 @@ cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, CvMat* projPoints1, CvMa
y = cvmGet(projPoints[j],1,i); y = cvmGet(projPoints[j],1,i);
for( int k = 0; k < 4; k++ ) for( int k = 0; k < 4; k++ )
{ {
matrA(j*3+0, k) = x * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],0,k); matrA(j*2+0, k) = x * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],0,k);
matrA(j*3+1, k) = y * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],1,k); matrA(j*2+1, k) = y * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],1,k);
matrA(j*3+2, k) = x * cvmGet(projMatrs[j],1,k) - y * cvmGet(projMatrs[j],0,k);
} }
} }
/* Solve system for current point */ /* Solve system for current point */