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Merge pull request #6836 from vicproon:rectify_correct_principal_point

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Vadim Pisarevsky 2016-07-18 15:53:35 +00:00
commit a86a5c798b
1 changed files with 4 additions and 4 deletions
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8
modules/calib3d/src/calibration.cpp
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@ -2345,8 +2345,8 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
for( i = 0; i < 4; i++ )
{
int j = (i<2) ? 0 : 1;
_pts[i].x = (float)((i % 2)*(nx-1));
_pts[i].y = (float)(j*(ny-1));
_pts[i].x = (float)((i % 2)*(nx));
_pts[i].y = (float)(j*(ny));
}
cvUndistortPoints( &pts, &pts, A, Dk, 0, 0 );
cvConvertPointsHomogeneous( &pts, &pts_3 );
@ -2360,8 +2360,8 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
_a_tmp[1][2]=0.0;
cvProjectPoints2( &pts_3, k == 0 ? _R1 : _R2, &Z, &A_tmp, 0, &pts );
CvScalar avg = cvAvg(&pts);
cc_new[k].x = (nx-1)/2 - avg.val[0];
cc_new[k].y = (ny-1)/2 - avg.val[1];
cc_new[k].x = (nx)/2 - avg.val[0];
cc_new[k].y = (ny)/2 - avg.val[1];
}
// vertical focal length must be the same for both images to keep the epipolar constraint