fixed 8-point case in findFundamentalMat (ticket #1262). findFundamentalMat needs to be rewritten actually (as well as findHomography)
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@ -499,7 +499,7 @@ int CvFMEstimator::run8Point( const CvMat* _m1, const CvMat* _m2, CvMat* _fmatri
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a[j*9+k] += r[j]*r[k];
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}
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cvSVD( &A, &W, 0, &V, CV_SVD_MODIFY_A + CV_SVD_V_T );
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cvEigenVV(&A, &V, &W);
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for( i = 0; i < 8; i++ )
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{
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@ -616,7 +616,7 @@ CV_IMPL int cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
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(mask->rows == 1 || mask->cols == 1) &&
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mask->rows*mask->cols == count );
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}
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if( mask || count > 8 )
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if( mask || count >= 8 )
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tempMask = cvCreateMat( 1, count, CV_8U );
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if( !tempMask.empty() )
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cvSet( tempMask, cvScalarAll(1.) );
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@ -624,9 +624,9 @@ CV_IMPL int cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
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CvFMEstimator estimator(7);
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if( count == 7 )
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result = estimator.run7Point(m1, m2, &_F9x3);
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else if( count == 8 || method == CV_FM_8POINT )
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else if( method == CV_FM_8POINT )
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result = estimator.run8Point(m1, m2, &_F3x3);
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else if( count >= 8 )
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else
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{
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if( param1 <= 0 )
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param1 = 3;
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@ -1637,14 +1637,31 @@ CV_IMPL void
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cvEigenVV( CvArr* srcarr, CvArr* evectsarr, CvArr* evalsarr, double,
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int lowindex, int highindex)
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{
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cv::Mat src = cv::cvarrToMat(srcarr), evals = cv::cvarrToMat(evalsarr);
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cv::Mat src = cv::cvarrToMat(srcarr), evals0 = cv::cvarrToMat(evalsarr), evals = evals0;
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if( evectsarr )
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{
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cv::Mat evects = cv::cvarrToMat(evectsarr);
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cv::Mat evects0 = cv::cvarrToMat(evectsarr), evects = evects0;
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eigen(src, evals, evects, lowindex, highindex);
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if( evects0.data != evects.data )
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{
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uchar* p = evects0.data;
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evects.convertTo(evects0, evects0.type());
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CV_Assert( p == evects0.data );
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}
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}
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else
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eigen(src, evals, lowindex, highindex);
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if( evals0.data != evals.data )
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{
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uchar* p = evals0.data;
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if( evals0.size() == evals.size() )
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evals.convertTo(evals0, evals0.type());
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else if( evals0.type() == evals.type() )
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cv::transpose(evals, evals0);
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else
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cv::Mat(evals.t()).convertTo(evals0, evals0.type());
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CV_Assert( p == evals0.data );
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}
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}
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