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fixed 8-point case in findFundamentalMat (ticket #1262). findFundamentalMat needs to be rewritten actually (as well as findHomography)

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Vadim Pisarevsky
2011-08-03 14:04:14 +00:00
parent 8b16dbe791
commit c57799a877
2 changed files with 23 additions and 6 deletions
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8
modules/calib3d/src/fundam.cpp
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@@ -499,7 +499,7 @@ int CvFMEstimator::run8Point( const CvMat* _m1, const CvMat* _m2, CvMat* _fmatri
a[j*9+k] += r[j]*r[k];
}
cvSVD( &A, &W, 0, &V, CV_SVD_MODIFY_A + CV_SVD_V_T );
cvEigenVV(&A, &V, &W);
for( i = 0; i < 8; i++ )
{
@@ -616,7 +616,7 @@ CV_IMPL int cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
(mask->rows == 1 || mask->cols == 1) &&
mask->rows*mask->cols == count );
}
if( mask || count > 8 )
if( mask || count >= 8 )
tempMask = cvCreateMat( 1, count, CV_8U );
if( !tempMask.empty() )
cvSet( tempMask, cvScalarAll(1.) );
@@ -624,9 +624,9 @@ CV_IMPL int cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
CvFMEstimator estimator(7);
if( count == 7 )
result = estimator.run7Point(m1, m2, &_F9x3);
else if( count == 8 || method == CV_FM_8POINT )
else if( method == CV_FM_8POINT )
result = estimator.run8Point(m1, m2, &_F3x3);
else if( count >= 8 )
else
{
if( param1 <= 0 )
param1 = 3;